Abstract
A new design method for parallel compliant mechanisms based on the singularity analysis of parallel mechanisms is presented in this paper. Here a 3-US parallel mechanism is introduced and its singular configurations are analyzed with Grassmann–Cayley algebra for the design of a compliant mechanism with RRP mobilities. A novel architecture of compliant mechanism, based on a 3-UU parallel mechanism, is presented and finally its stiffness properties are analyzed with a finite element method.
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References
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© 2012 Springer Science+Business Media Dordrecht
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Rubbert, L., Caro, S., Renaud, P., Gangloff, J. (2012). A Planar Compliant Mechanism with RRP Mobilities Based on the Singularity Analysis of a 3-US Parallel Mechanism. In: Lenarcic, J., Husty, M. (eds) Latest Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4620-6_48
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DOI: https://doi.org/10.1007/978-94-007-4620-6_48
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-4619-0
Online ISBN: 978-94-007-4620-6
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