Compliance analysis of mechanisms with spatial continuous compliance in the context of screw theory and Lie groups

TY - JOUR

T1 - Compliance analysis of mechanisms with spatial continuous compliance in the context of screw theory and Lie groups

AU - Ding, X.

AU - Dai, J. S.

PY - 2010/11/1

Y1 - 2010/11/1

N2 - This paper investigates the compliance effect on both serial and parallel mechanisms based on study of deflections of a finite segment of elastic beam with spatial compliance and applies eigenvectors and eigenvalues to identify principal screws in the mechanisms and parallel devices with spatial continuous compliance. With the analysis, compliance characteristics of both serial mechanisms and parallel devices can be identified with effect of compliance. Case studies are presented with numerical examples.

AB - This paper investigates the compliance effect on both serial and parallel mechanisms based on study of deflections of a finite segment of elastic beam with spatial compliance and applies eigenvectors and eigenvalues to identify principal screws in the mechanisms and parallel devices with spatial continuous compliance. With the analysis, compliance characteristics of both serial mechanisms and parallel devices can be identified with effect of compliance. Case studies are presented with numerical examples.

U2 - 10.1243/09544062JMES2095

DO - 10.1243/09544062JMES2095

M3 - Article

SN - 0954-4062

VL - 224

SP - 2493

EP - 2504

JO - Institution of Mechanical Engineers. Proceedings. Part C: Journal of Mechanical Engineering Science

JF - Institution of Mechanical Engineers. Proceedings. Part C: Journal of Mechanical Engineering Science

IS - C11

ER -