Chapitre D'ouvrage Année : 2012

A Planar RRP Compliant Mechanism Based on the Singularity Analysis of a 3-US Parallel Mechanism

Résumé

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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Dates et versions

hal-04238106 , version 1 (08-09-2025)

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Lennart Rubbert, Stéphane Caro, Pierre Renaud, Jacques Gangloff. A Planar RRP Compliant Mechanism Based on the Singularity Analysis of a 3-US Parallel Mechanism. Latest Advances in Robot Kinematics, Springer Netherlands, pp.381-388, 2012, 978-94-007-4619-0. ⟨10.1007/978-94-007-4620-6_48⟩. ⟨hal-04238106⟩
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