A general discretization-based approach for the kinetostatic analysis of closed-loop rigid/flexible hybrid mechanisms

Abstract

This paper presents a general approach for the kinetostatic modeling and analysis of closed-loop mechanisms consisting of both rigid and flexible links. Based on the principal axes decomposition of structural compliance matrix, the flexible links are approximated by hyperredundant linkages with rigid bodies connected by passive elastic joints. Hence, the kinetostatic analysis of rigid/flexible hybrid mechanisms can be formulated as static equilibrium problems of the approximate linkages which are regarded as hyperredundant underactuated multibody systems. By taking advantage of mechanism kinematics/statics, the large deflection problems of flexible links can be efficiently solved using the presented discretization-based approach. In order to demonstrate the effectiveness of the proposed method, a hybrid planar four-bar mechanism is provided as an example. And FEA simulations have been conducted to verify the correctness of obtained results.