Kinematostatic modeling of compliant parallel mechanisms |
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Authors: | Email author" target="_blank">Cyril?QuennouelleEmail author Clément?Gosselin |
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Institution: | 1.Laboratoire de Robotique, Département de Génie Mécanique,Université Laval,Québec,Canada |
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Abstract: | The benefits of compliant mechanisms in terms of precision are not easy to exploit because of the limitations of the existing
kinematic models used to analyze them. In practice, compliant mechanisms are more sensitive to external wrenches than conventional
mechanisms. In this paper, based on the kinematic constraints and the static equilibrium between the joint coordinates and
the external wrenches, a general kinematostatic model of compliant parallel mechanisms is presented. Then, this model is differentiated
to provide a quasi-static model that makes it possible to calculate the variation of the pose as a linear function of the
motion of the actuators and the variation of the external loads through two new matrices: the quasi-static Jacobian matrix and the Cartesian compliance matrix that give a simple and meaningful formulation of the model of the mechanism. |
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