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Geometric Construction-Based Realization Of Spatial Elastic Behaviors In Parallel And Serial Manipulators, Shuguang Huang, Joseph M. Schimmels
Geometric Construction-Based Realization Of Spatial Elastic Behaviors In Parallel And Serial Manipulators, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
This paper addresses the realization of spatial elastic behavior with a parallel or a serial manipulator. Necessary and sufficient conditions for a manipulator (either parallel or serial) to realize a specific elastic behavior are presented and interpreted in terms of the manipulator geometry. These conditions completely decouple the requirements on component elastic properties from the requirements on mechanism kinematics. New construction-based synthesis procedures for spatial elastic behaviors are developed. With these synthesis procedures, one can select each elastic component of a parallel (or serial) mechanism based on the geometry of a restricted space of allowable candidates. With each elastic component …