| contributor author | Huang, Shuguang | |
| contributor author | Schimmels, Joseph M. | |
| date accessioned | 2022-05-08T08:28:15Z | |
| date available | 2022-05-08T08:28:15Z | |
| date copyright | 3/31/2022 12:00:00 AM | |
| date issued | 2022 | |
| identifier issn | 1050-0472 | |
| identifier other | md_144_8_083301.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4283964 | |
| description abstract | In this article, the synthesis of any specified planar compliance with a serial elastic mechanism having previously determined link lengths is addressed. For a general n-joint serial mechanism, easily assessed necessary conditions on joint locations for the realization of a given compliance are identified. Geometric construction-based synthesis procedures for five-joint and six-joint serial mechanisms having kinematically redundant fixed link lengths are developed. By using these procedures, a given serial manipulator can achieve a large set of different compliant behaviors by using variable stiffness actuation and by adjusting the mechanism configuration. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Compliance Realization With Planar Serial Mechanisms Having Fixed Link Lengths | |
| type | Journal Paper | |
| journal volume | 144 | |
| journal issue | 8 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.4053819 | |
| journal fristpage | 83301-1 | |
| journal lastpage | 83301-12 | |
| page | 12 | |
| tree | Journal of Mechanical Design:;2022:;volume( 144 ):;issue: 008 | |
| contenttype | Fulltext | |