Kineto-static analysis of a hybrid manipulator consisting of rigid and flexible limbs with locking function for planar shape morphing

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dc.check.date2025-10-05en
dc.check.infoAccess to this article is restricted until 12 months after publication by request of the publisheren
dc.contributor.authorZhao, Yinjunen
dc.contributor.authorXi, Fengfengen
dc.contributor.authorHao, Guangboen
dc.contributor.authorTian, Yingzhongen
dc.contributor.authorLi, Longen
dc.contributor.authorWang, Jieyuen
dc.contributor.funderNational Natural Science Foundation of Chinaen
dc.contributor.funderShanghai Pujiang Programmeen
dc.contributor.funderChina Scholarship Councilen
dc.date.accessioned2024-11-12T12:05:33Z
dc.date.available2024-11-12T12:05:33Z
dc.date.issued2024-10-05en
dc.description.abstractThe 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.en
dc.description.sponsorshipNational Natural Science Foundation of China (No. 52105002); Shanghai Pujiang Programme (No. 23PJD069)en
dc.description.statusPeer revieweden
dc.description.versionAccepted Versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.articleid105802en
dc.identifier.citationZhao, 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.2024.105802en
dc.identifier.doihttps://doi.org/10.1016/j.mechmachtheory.2024.105802en
dc.identifier.endpage29en
dc.identifier.issn0094-114Xen
dc.identifier.journaltitleMechanism and Machine Theoryen
dc.identifier.startpage1en
dc.identifier.urihttps://hdl.handle.net/10468/16640
dc.identifier.volume203en
dc.language.isoenen
dc.publisherElsevier Ltd.en
dc.rights© 2024, Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies. This manuscript version is made available under the CC BY-NC-ND 4.0 license.en
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/4.0/en
dc.subjectRigid-flexible reconfigurable parallel manipulatoren
dc.subjectShape morphing structureen
dc.subjectKinematicsen
dc.subjectKineto-static analysisen
dc.subjectSequential motion controlen
dc.titleKineto-static analysis of a hybrid manipulator consisting of rigid and flexible limbs with locking function for planar shape morphingen
dc.typeArticle (peer-reviewed)en
oaire.citation.volume203en
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