Abstract
The kinematic models of revolute and prismatic pairs in presence of flexible bodies are discussed. Both discrete and continuous representations of body deformations are considered. In particular, it is shown, by geometrical considerations and a numerical example, that, for chains with prismatic pairs, a discrete approach can lead to geometrically wrong results. RRR and RPR single loop modules with flexible links are introduced and a continuous representation of flexibility for the “guide” body is adopted to obtain a model of the RPR closed chain. The closure equation that determine the pair variable of the prismatic pair is given. An example of solution of the RPR chain is compared with a graphical model created with a variational CAD system and with the results obtained by a discrete approach.
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Fanghella, P. (1998). Modular Kinematics of Planar Mechanisms with Prismatic Pairs and Flexible Links. In: Lenarčič, J., Husty, M.L. (eds) Advances in Robot Kinematics: Analysis and Control. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-9064-8_26
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DOI: https://doi.org/10.1007/978-94-015-9064-8_26
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