Mechanics of Compliant Serial Manipulator Composed of Dual-triangle Segments

The paper focuses on the mechanics of a compliant serial manipulator composed new type dual-triangle elastic segments. Both analytical and numerical methods were used to find stable unstable equilibrium configurations, as well predict corresponding shapes. stiffness analysis was carried for both loaded unloaded modes, matrices computed using Virtual Joint Method (VJM). results demonstrate that either buckling or quasi-buckling phenomenon may occur under loading, if initial configuration is straight non-straight one. Relevant simulation are presented confirm theoretical study.