Kinematic analysis of a three-degree of freedom compliant platform

Julio C. Correa; Carl Crane

doi:10.1115/1.4024085

Kinematic analysis of a three-degree of freedom compliant platform

Julio C. Correa
, Carl Crane

Research output: Contribution to scientific journal › Article in an indexed scientific journal › peer-review

3 Scopus citations

Abstract

This paper addresses the kinematic analysis of a three-degree of freedom (DOF) compliant platform able to move in three dimensional space. The device is formed by the actuators, a central moving platform, and compliant joints. The actuators are three binary links. The moving platform is an equilateral plate. Springs connect the free end of each actuator with each vertex of the central platform. In this way, the motion of the actuators is transmitted to the moving platform. Compliant joints increase the complexity of the motion of the central platform and few studies have been carried out. This paper focuses on the forward and reverse analyses for the platform and the derivation of equations that relate the velocity of the moving platform with the velocity of the actuators.

Original language	English
Article number	051009
Journal	Journal of Mechanical Design, Transactions Of the ASME
Volume	135
Issue number	5
DOIs	https://doi.org/10.1115/1.4024085
State	Published - May 2013

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title = "Kinematic analysis of a three-degree of freedom compliant platform",

abstract = "This paper addresses the kinematic analysis of a three-degree of freedom (DOF) compliant platform able to move in three dimensional space. The device is formed by the actuators, a central moving platform, and compliant joints. The actuators are three binary links. The moving platform is an equilateral plate. Springs connect the free end of each actuator with each vertex of the central platform. In this way, the motion of the actuators is transmitted to the moving platform. Compliant joints increase the complexity of the motion of the central platform and few studies have been carried out. This paper focuses on the forward and reverse analyses for the platform and the derivation of equations that relate the velocity of the moving platform with the velocity of the actuators.",

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AB - This paper addresses the kinematic analysis of a three-degree of freedom (DOF) compliant platform able to move in three dimensional space. The device is formed by the actuators, a central moving platform, and compliant joints. The actuators are three binary links. The moving platform is an equilateral plate. Springs connect the free end of each actuator with each vertex of the central platform. In this way, the motion of the actuators is transmitted to the moving platform. Compliant joints increase the complexity of the motion of the central platform and few studies have been carried out. This paper focuses on the forward and reverse analyses for the platform and the derivation of equations that relate the velocity of the moving platform with the velocity of the actuators.

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Kinematic analysis of a three-degree of freedom compliant platform

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