Analysis of an Underactuated Compliant Five-bar Linkage
نویسنده
چکیده
Deepak Behera and Dr.J.Srinivas, Department of Mechanical Engineering, NIT-Rourkela 769 008 email: [email protected] Abstract: This paper presents the kinetostatic analysis and design of a two degree-offreedom five-bar underactuated compliant mechanism using a pseudo-rigid body modeling. Two of the joints in the linkage are flexible and actuation is provided to the crank. The slider connected to coupler provides a grasping action. Equations of motion along with loop closure relations facilitate in obtaining the kinematic solution. NewtonRapson’s approach is used to solve the complex coupled nonlinear transcendental equations and results are shown for an assumed load-function pattern.
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تاریخ انتشار 2013