Mechanics of compliant serial manipulator composed of dual-triangle segments - Ecole Centrale de Nantes Accéder directement au contenu
Article Dans Une Revue International Journal of Mechanical Engineering and Robotics Research Année : 2021

Mechanics of compliant serial manipulator composed of dual-triangle segments

Résumé

The paper focuses on the mechanics of a compliant serial manipulator composed of new type of dual-triangle elastic segments. Both the analytical and numerical methods were used to find the manipulator stable and unstable equilibrium configurations, as well as to predict corresponding manipulator shapes. The stiffness analysis was carried on for both loaded and unloaded modes, the stiffness matrices were computed using the Virtual Joint Method (VJM). The results demonstrate that either buckling or quasi-buckling phenomenon may occur under the loading, if the manipulator corresponding initial configuration is straight or non-straight one. Relevant simulation results are presented that confirm the theoretical study.
Fichier principal
Vignette du fichier
Paper_IJMERR.pdf (2.61 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03195185 , version 1 (10-04-2021)

Identifiants

Citer

Wanda Zhao, Anatol Pashkevich, Damien Chablat, Alexandr Klimchik. Mechanics of compliant serial manipulator composed of dual-triangle segments. International Journal of Mechanical Engineering and Robotics Research, 2021, 10 (4), pp.169-176. ⟨10.18178/ijmerr.10.4.169-176⟩. ⟨hal-03195185⟩
56 Consultations
62 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More