Quasi-static modelling of compliant mechanisms: application to a 2-DOF underactuated finger

被引：2
|
作者：
Quennouelle, C. [1 ]
Gosselin, C. [1 ]
机构：
[1] Univ Laval, Robot Lab, Dept Genie Mecan, Quebec City, PQ, Canada
来源：
MECHANICAL SCIENCES | 2011年 / 2卷 / 01期
基金：
加拿大自然科学与工程研究理事会;
关键词：
FORCE;
D O I：
10.5194/ms-2-73-2011
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, the kinematostatic and the quasi-static models of parallel mechanisms are applied to underactuated mechanisms. Both models are extended to the cases for which the actuated joints are not kinematically independent, and for which the external loads are function of the configuration of the mechanism, the grasped object being considered as not perfectly rigid. An application to a 2-DOF underactuated compliant finger is then presented with details about the implementation of the kinematostatic and the quasi-static models. Finally, some numerical results are given that illustrate possible contributions of these models for the analysis and the control of underactuated mechanisms.
引用
收藏
页码：73 / 81
页数：9
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