Analysis of an underactuated compliant five-bar linkage

Abstract

This paper presents the kinetostatic analysis and design of a two degree-of-freedom 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. Newton-Rapson’s approach is used to solve the complex coupled nonlinear transcendental equations and results are shown for an assumed load-function pattern.