(F2)Elastic Spatial Parallel Mechanism Made of a Certain Thin Plate

 In order to develop light weight, cheap and flexible robot with multiple DOF, a novel elastic spatial parallel mechanism made of a certain thin plate is proposed and designed. Based on large deformation analysis of a thin plane with an arbitrary shape, the inverse kinetostatics analysis method for the mechaoism is established. For an example, an elastic spatial parallel mechanism with 3 DOF is designed and fabricated. The prototype can generate desired output motion.
Fig.1 Fig.2
An example of inverse kinetostatic analysis A prototype

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