2004 · 42 citations · 0 references
EngineeringMechanical EngineeringRobotics EngineeringMechanical DesignMechatronic DesignRoboticsCompliant MechanismsKinematic ModelingMechanical Structure DesignMechanical System DesignRigid Body KinematicsRobot ComplianceComplianceCompliant Mechanism DesignForce-displacement CharacteristicsParallel MechanismsParallel Robot MechanismsPseudo-rigid-body ModelsRigid Body ModelingStructural Error Correction
A new fully compliant linear-motion mechanism, called the XBob, is presented. The mechanism is based on the pseudo-rigid-body model (PRBM) of a system of Roberts approximate straight-line mechanisms combined in series and parallel. It can be fabricated in a single plane and has a linear force-displacement relationship. Symmetry and compliance compensate for the structural error inherent in the Roberts mechanism, resulting in precise straight-line motion. The device is designed and its motion and force-displacement relations are predicted by the PRBM. The design is validated using finite element analysis and experimental results.