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Kineto-static analysis of a hybrid manipulator consisting of rigid and flexible limbs with locking function for planar shape morphing
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Date
2024-10-05
Authors
Zhao, Yinjun
Xi, Fengfeng
Hao, Guangbo
Tian, Yingzhong
Li, Long
Wang, Jieyu
Journal Title
Journal ISSN
Volume Title
Publisher
Elsevier Ltd.
Published Version
Abstract
The incorporation of lockable passive backbones into active compliant morphing systems efficiently results in lightweight, high-load, and large deformation systems. However, there exist challenges in kineto-static analysis due to the interaction between rigid reconfigurable kinematic constraints and the nonlinear deformation of actuated flexible limbs. This paper addresses these issues by developing a kineto-static method to analyze the motion in a novel planar 3-DOF shape-morphing manipulator. The manipulator features two actuated flexible limbs with a lockable variable geometry truss (LVGT). In this study, two isostatic topologies are selected for reconfigurable motion control under external tip loads. A multi-step sequential control strategy is proposed to maneuver the manipulator's platform for desired poses. Then, a constrained-trajectory-based kinematic model is proposed for an inverse kinematic solution considering motion planning. Subsequently, a kineto-static model is introduced, considering constraints from rigid and flexible limbs, aiming to distribute distributing redundant actuation forces. Finally, nonlinear finite element analysis (FEA) and experiments are carried out to validate the effectiveness of the proposed method.
Description
Keywords
Rigid-flexible reconfigurable parallel manipulator , Shape morphing structure , Kinematics , Kineto-static analysis , Sequential motion control
Citation
Zhao, Y., Xi, F., Hao, G., Tian, Y., Li, L. and Wang, J. (2024) 'Kineto-static analysis of a hybrid manipulator consisting of rigid and flexible limbs with locking function for planar shape morphing', Mechanism and Machine Theory, 203, 105802 (29pp). https://doi.org/10.1016/j.mechmachtheory.2024.105802