In this paper, we provide an analytical formulation for the geometrico-static problem of continuum planar parallel robots. This formulation provides to an analytical computation of a set of equations governing the equilibrium configurations. We also introduce a stability criterion of the computed configurations. This formulation is based on the use of Kirchhoff’s rod deformation theory and finite-difference approximations. Their combination leads to a quadratic expression of the rod’s deformation energy. Equilibrium configurations of a planar parallel robot composed of two hinged flexible rods are computed according to this new formulation and compared with the ones obtained with state-of-the-art approaches. By assessing equilibrium stability with the proposed technique, new unstable configurations are determined.

An Analytical Formulation for the Geometrico-Static Problem of Continuum Planar Parallel Robots

Zaccaria F.;Ida E.;Carricato M.
2021

Abstract

In this paper, we provide an analytical formulation for the geometrico-static problem of continuum planar parallel robots. This formulation provides to an analytical computation of a set of equations governing the equilibrium configurations. We also introduce a stability criterion of the computed configurations. This formulation is based on the use of Kirchhoff’s rod deformation theory and finite-difference approximations. Their combination leads to a quadratic expression of the rod’s deformation energy. Equilibrium configurations of a planar parallel robot composed of two hinged flexible rods are computed according to this new formulation and compared with the ones obtained with state-of-the-art approaches. By assessing equilibrium stability with the proposed technique, new unstable configurations are determined.
ROMANSY 23 - Robot Design, Dynamics and Control, Proceedings of the 23rd CISM IFToMM Symposium
512
520
CISM INTERNATIONAL CENTRE FOR MECHANICAL SCIENCES
Zaccaria F.; Briot S.; Chikhaoui M.T.; Ida E.; Carricato M.
File in questo prodotto:
Eventuali allegati, non sono esposti

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/776036
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 2
  • ???jsp.display-item.citation.isi??? ND
social impact