SCREW THEORY ON THE ANALYSIS OF MECHANICAL SYSTEMS WITH SPATIAL COMPLIANT LINKS

Abstract

Abstract: The mechanical system with spatial compliant links, that is the link under the deflections of bending in the plane, twisting and extending, is studied using screw theory. The elastic equations of a spatial compliant beam are built based on the material theory, and then, this beam theory is applied to the compliance and kinematics analysis of the serial robot with spatial compliant links. The vibrating bowl feeder for industry assembling work is further studied by considering its’ legs as leaf springs. Finally, the spatial compliance of the coiled springs is discussed. The Lie groups and Lie algebras is successfully extended to study the mechanical system with spatial compliant links.

Key words: Compliant mechanisms, Lie groups and Lie algebras, Robot, Spatial compliance

CLC Number:

TH112

Ding Xilun;Selig John Mark;Dai Jiansheng. SCREW THEORY ON THE ANALYSIS OF MECHANICAL SYSTEMS WITH SPATIAL COMPLIANT LINKS[J]. , 2005, 41(8): 63-68.

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SCREW THEORY ON THE ANALYSIS OF MECHANICAL SYSTEMS WITH SPATIAL COMPLIANT LINKS

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