S.L. Canfield and J.W. Beard
Compliant, spatial, manipulator, finite element analysis, kinematics
This paper will present a kinetoelastic model appropriate for spatial compliant manipulators that will be used for size optimization and motion control of these devices. This model will be applicable to a class of compliant manipulators based on a parallel architecture that combines the characteristics of parallel manipulators with the low-cost, small-scale capabilities resulting from a compliant structure design. The model will address both the forward and inverse kinematic analysis of such devices, as well as form a design tool for dimensional synthesis in an optimal sense based on sensitivity to joint strain limits and manufacture, parameters that are critical in the performance of compliant manipulators. The model will then be applied to a specific compliant 3-degree- of-freedom manipulator topology to demonstrate its use in size optimization of the dimensional parameters of the selected compliant manipulator. The ability of the model to accurately solve the forward and inverse kinematics will also be evaluated through testing with the prototype. The authors provide a general discussion geared to the future implementation of this model in control of positioning compliant manipulators.
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