Compliance Realization With Planar Serial Mechanisms Having Fixed Link Lengths

Authors

Shuguang Huang, Marquette UniversityFollow
Joseph M. Schimmels, Marquette UniversityFollow

Document Type

Article

Publication Date

8-2022

Publisher

American Society of Mechanical Engineers (ASME)

Source Publication

Journal of Mechanical Design

Source ISSN

1050-0472

Original Item ID

DOI: 10.1115/1.4053819

Abstract

In this article, the synthesis of any specified planar compliance with a serial elastic mechanism having previously determined link lengths is addressed. For a general n-joint serial mechanism, easily assessed necessary conditions on joint locations for the realization of a given compliance are identified. Geometric construction-based synthesis procedures for five-joint and six-joint serial mechanisms having kinematically redundant fixed link lengths are developed. By using these procedures, a given serial manipulator can achieve a large set of different compliant behaviors by using variable stiffness actuation and by adjusting the mechanism configuration.

Comments

Journal of Mechanical Design, Vol. 144, No. 8 (August 2022). DOI.

Recommended Citation

Huang, Shuguang and Schimmels, Joseph M., "Compliance Realization With Planar Serial Mechanisms Having Fixed Link Lengths" (2022). Mechanical Engineering Faculty Research and Publications. 329.
https://epublications.marquette.edu/mechengin_fac/329