Compliance Analysis of a Three-Legged Rigidly-Connected Platform Device

Abstract

The platform based vibratory bowl feeders are essential elements in automatic assembly. Taking the bowl feeder as a typical three-legged rigidly connected compliant platform device, this paper applies von Mises’ compliance matrix to each of the leaf-spring legs, establishes screw systems of the legs and develops the Jacobian of the platform using the adjoint transformation. Based on the force equilibrium between the supporting and external wrenches and the twist deflection, a platform compliance matrix is proposed as a congruence transformation of the legs’ compliance matrices. The matrix is then decomposed into a central compliance matrix and an adjoint transformation, leading to the decomposition of the legs’ parameter effect from the platform assembly influence. The analysis presents the necessary and sufficient condition for the existence of the twist deflection that is equivalent to the characteristics equation of the compliant platform. Further based on the eigencompliances and eigentwist decomposition, the legs’ parameter effect and the platform assembly parameter influence are identified. This reveals the compliance characteristics of this type of devices and the parameters’ effect on the compliance and presents a suitable parameter range for design of the compliant platform device.