This paper addresses the kinematic analysis of a three-degree of freedom (DOF) compliant platform able to move in three dimensional space. The device is formed by the actuators, a central moving platform, and compliant joints. The actuators are three binary links. The moving platform is an equilateral plate. Springs connect the free end of each actuator with each vertex of the central platform. In this way, the motion of the actuators is transmitted to the moving platform. Compliant joints increase the complexity of the motion of the central platform and few studies have been carried out. This paper focuses on the forward and reverse analyses for the platform and the derivation of equations that relate the velocity of the moving platform with the velocity of the actuators.
Kinematic Analysis of a Three-Degree of Freedom Compliant Platform
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanical Design. Manuscript received May 29, 2012; final manuscript received November 30, 2012; published online April 29, 2013. Assoc. Editor: Craig Lusk.
- Views Icon Views
- Share Icon Share
- Cite Icon Cite
- Search Site
Correa, J. C., and Crane, C. (April 29, 2013). "Kinematic Analysis of a Three-Degree of Freedom Compliant Platform." ASME. J. Mech. Des. May 2013; 135(5): 051009. https://doi.org/10.1115/1.4024085
Download citation file:
- Ris (Zotero)
- Reference Manager