Compliance Realization With Planar Serial Mechanisms Having Fixed Link Lengths
American Society of Mechanical Engineers (ASME)
Journal of Mechanical Design
Original Item ID
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.
Huang, Shuguang and Schimmels, Joseph M., "Compliance Realization With Planar Serial Mechanisms Having Fixed Link Lengths" (2022). Mechanical Engineering Faculty Research and Publications. 329.