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A Compliant Rolling Contact Joint and Its Application in a 3-DOF Planar Parallel Mechanism With Kinematic Analysis

[+] Author Affiliations
Amélie Jeanneau, Thierry Laliberté, Clément Gosselin

Université Laval, Québec, Québec, Canada

Just Herder

Delft University of Technology, Delft, The Netherlands

Paper No. DETC2004-57264, pp. 689-698; 10 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


This paper first presents the concept and the fabrication of a new type of compliant rolling joint which combines the advantages of compliant mechanisms with those of rolling link mechanisms. In this joint, flexible bands create the necessary constraints to enforce a rolling movement between two links. Then, the rapid prototyping techniques used for the compliant rolling joint fabrication are described. The kinematics of one application of this joint in a 3-DOF planar parallel mechanism are then presented. A semigraphical method was used to find the solutions to the inverse kinematic problem. Finally, the workspace analysis and the velocity equations are presented.

Copyright © 2004 by ASME



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