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Realization of a Planar Stiffness With a Simple Symmetric Parallel Mechanism

[+] Author Affiliations
Shuguang Huang, Joseph M. Schimmels

Marquette University, Milwaukee, WI

Paper No. DETC2010-28329, pp. 419-426; 8 pages
doi:10.1115/DETC2010-28329
From:
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME

abstract

This paper presents a new method for the realization of a planar compliant behavior with an elastic mechanism. The mechanisms considered are parallel mechanisms with symmetric geometry. We show that any planar stiffness matrix can be realized using a parallel mechanism with four line springs connected symmetrically. Among the four springs, two are identical parallel springs equidistant from the stiffness center, and the other two identical springs intersect at the stiffness center. A synthesis procedure is presented.

Copyright © 2010 by ASME

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