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Conference Papers Year : 2020

An Analytical Formulation for the Geometrico-static Problem of Continuum Planar Parallel Robots

Abstract

In this paper, we provide an analytical formulation for the geometrico-static problem of continuum planar parallel robots. This formulation provides to an analytical computation of a set of equations governing the equilibrium configurations. We also introduce a stability criterion of the computed configurations. This formulation is based on the use of Kirchhoff's rod deformation theory and finite-difference approximations. Their combination leads to a quadratic expression of the rod's deformation energy. Equilibrium configurations of a planar parallel robot composed of two hinged flexible rods are computed according to this new formulation and compared with the ones obtained with state-of-the-art approaches. By assessing equilibrium stability with the proposed technique, new unstable configurations are determined.
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Dates and versions

hal-02849910 , version 1 (22-06-2020)

Identifiers

  • HAL Id : hal-02849910 , version 1

Cite

Federico Zaccaria, Sébastien Briot, Mohamed Taha Chikhaoui, Edoardo Idá, Marco Carricato. An Analytical Formulation for the Geometrico-static Problem of Continuum Planar Parallel Robots. 23rd CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2020), Sep 2020, Sapporo, Japan. ⟨hal-02849910⟩
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