Position analysis in planar parallel continuum mechanisms

Parallel continuum mechanisms are closed, kinematic, chained compliant mechanisms that are mobile due to flexible and slender elements. Large deformations and the force-moment equilibrium require a more complex modeling of the kinematic analysis than in their rigid-link counterparts. Although real-time solutions to the position problem using numerical iterative methods are available, a comprehensive kinematic analysis of such mechanisms has not yet been conducted. The first step to this end is a procedure that solves the full forward and inverse kinematic problems, and is proposed in this paper for planar systems to allow for an easier interpretation of their kinematic characteristics. This procedure provides the means to obtain multiple solutions arising from the closed-loop structure and the multiplicity of the buckling mode of slender links. (C) 2018 Elsevier Ltd. All rights reserved.