Achieving compliant spherical linkage designs from compliant planar linkages based on PRBM: A spherical Young mechanism case study

机译：从基于PRBM的柔性平面连杆机构实现柔性球形连杆机构设计：球形杨氏机构案例研究

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Many studies about the compliant mechanisms has been done and most of them are planar configurations. Spherical linkages, as a transition between planar and spatial linkages, play an important role in the modern precision instruments and robots. In this paper, we explore spherical linkage designs from available compliant planar linkages with a method based on the pseudo-rigid-body model and the rigid-body replacement synthesis approach. A typical Young mechanism is utilized as an illustration, which is called the spherical Young mechanism. The kinetostatic results of the spherical Young mechanism, which have been calculated based on the pseudo-rigid-body method, show that it has bistability behaviors.

机译：关于顺应性机制的许多研究已经完成，并且大多数是平面结构。球形链接作为平面链接和空间链接之间的过渡，在现代精密仪器和机器人中起着重要作用。在本文中，我们使用基于拟刚体模型和刚体替换综合方法的方法，从可用的顺应性平面连杆机构中探索球形连杆机构的设计。以典型的杨氏机构为例，称为球形杨氏机构。基于拟刚体方法计算的球形杨氏机构的运动静力学结果表明，它具有双稳态行为。

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《2012 International Conference on Robotics and Biomimetics : Conference Digest.》|2012年|p.193-197|共5页
会议地点 Guangzhou(CN)
作者
Li Geng; Chen Guimin;
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Xidian University;

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原文格式 PDF
正文语种 eng
中图分类机器人技术;机器人技术;
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4. Achieving compliant spherical linkage designs from compliant planar linkages based on PRBM: A spherical Young mechanism case study [C] . Li Geng, Chen Guimin IEEE International Conference on Robotics and Biomimetics . 2012

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Achieving compliant spherical linkage designs from compliant planar linkages based on PRBM: A spherical Young mechanism case study

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