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Conference Papers Year : 2020

Mechanics of compliant serial manipulator composed of dual-triangle segments

Abstract

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.
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Dates and versions

hal-02994193 , version 1 (07-11-2020)

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Damien Chablat, Wanda Zhao, Anatol Pashkevich, Alexandr Klimchik. Mechanics of compliant serial manipulator composed of dual-triangle segments. 3rd International Conference on Control and Robots, Dec 2020, Tokyo, Japan. ⟨hal-02994193⟩
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