SCREW THEORY ON THE ANALYSIS OF MECHANICAL SYSTEMS WITH SPATIAL COMPLIANT LINKS

Ding Xilun

(Robotics Research Institute,Beihang University  Beijing 100083)

Selig John Mark

(Faculty of BCIM, London South Bank University, London SE10AA UK)

Dai Jiansheng

(Department of Mechanical Engineering, King’s College London, London WC2R2LS UK)

Abstract: The mechanical system with spatial compliant links, that is the link under the deflections of bending in the plane, twisting and extending, is studied using screw theory. The elastic equations of a spatial compliant beam are built based on the material theory, and then, this beam theory is applied to the compliance and kinematics analysis of the serial robot with spatial compliant links. The vibrating bowl feeder for industry assembling work is further studied by considering its’ legs as leaf springs. Finally, the spatial compliance of the coiled springs is discussed. The Lie groups and Lie algebras is successfully extended to study the mechanical system with spatial compliant links.

Key words: Spatial compliance  Lie groups and Lie algebras  Compliant mechanisms  Robot

CLC No: TH112

国家自然科学基金 (50275002)和中英联合资助项目. Received 20041228, received in revised form 20050425