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Mechanics of Compliant Serial Manipulator Composed of Dual-triangle Segments

Wanda Zhao 1, Anatol Pashkevich 1, Damien Chablat 1, and Alexandr Klimchik 2
1. Laboratoire des Sciences du Numérique de Nantes (LS2N), UMR CNRS 6004, Nantes, France
2. Innopolis University, Tatarstan, Russia

Abstract—This paper focuses on the mechanics of a compliant serial manipulator composed of the new type of dual-triangle elastic segments. Both the analytical and numerical methods were used to find the stable and unstable equilibrium configurations of the manipulator, and to predict the 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 initial configuration is straight or non-straight one. Relevant simulation results are presented at last, which confirm the theoretical study. 

Index Terms—component, compliant manipulator, stiffness analysis, equilibrium, robot buckling, redundancy

Cite: Wanda Zhao, Anatol Pashkevich, Damien Chablat, and Alexandr Klimchik, "Mechanics of Compliant Serial Manipulator Composed of Dual-triangle Segments," International Journal of Mechanical Engineering and Robotics Research, Vol. 10, No. 4, pp. 169-176, April 2021. DOI: 10.18178/ijmerr.10.4.169-176

​Copyright © 2021 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.