In this paper, the mobility, the kinematic constraints, the pose of the end-effector, and the static constraints that lead to the kinematostatic model of a compliant parallel mechanism are introduced. A formulation is then provided for its instantaneous variation—the quasi-static model. This new model allows the calculation of the variation in the pose as a linear function of the motion of the actuators and the variation in the external loads through two new matrices: the compliant Jacobian matrix and the Cartesian compliance matrix that give a simple and meaningful formulation of the model of the mechanism. Finally, a simple application to a planar four-bar mechanism is presented to illustrate the use of this model and the new possibilities that it opens, notably the study of the kinematics for any range of applied load.
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e-mail: cyril.quennouelle.1@ulaval.ca
e-mail: gosselin@gmc.ulaval.ca
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A Quasi-Static Model for Planar Compliant Parallel Mechanisms
Cyril Quennouelle,
Cyril Quennouelle
Laboratoire de Robotique, Département de Génie Mécanique,
e-mail: cyril.quennouelle.1@ulaval.ca
Université Laval-Québec
, QC, G1V 0A6, Canada
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Clément Gosselin
Clément Gosselin
Laboratoire de Robotique, Département de Génie Mécanique,
e-mail: gosselin@gmc.ulaval.ca
Université Laval-Québec
, QC, G1V 0A6, Canada
Search for other works by this author on:
Cyril Quennouelle
Laboratoire de Robotique, Département de Génie Mécanique,
Université Laval-Québec
, QC, G1V 0A6, Canada
e-mail: cyril.quennouelle.1@ulaval.ca
Clément Gosselin
Laboratoire de Robotique, Département de Génie Mécanique,
Université Laval-Québec
, QC, G1V 0A6, Canada
e-mail: gosselin@gmc.ulaval.ca
J. Mechanisms Robotics. May 2009, 1(2): 021012 (9 pages)
Published Online: January 20, 2009
Article history
Received:
January 22, 2008
Revised:
November 1, 2008
Published:
January 20, 2009
Citation
Quennouelle, C., and Gosselin, C. (January 20, 2009). "A Quasi-Static Model for Planar Compliant Parallel Mechanisms." ASME. J. Mechanisms Robotics. May 2009; 1(2): 021012. https://doi.org/10.1115/1.3046144
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