Kinematic Analysis of a Tendon-Driven Hybrid Rigid–Flexible Four-Bar; Application to Optimum Dimensional Synthesis

Alfonso Hernández, Aitor Muñoyerro, Mónica Urízar () and Oscar Altuzarra
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Alfonso Hernández: Faculty of Engineering in Bilbao, University of the Basque Country (UPV/EHU), Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain
Aitor Muñoyerro: Sogeclair Aerospace, Pol. Ind., 28906 Madrid, Spain
Mónica Urízar: Faculty of Engineering in Bilbao, University of the Basque Country (UPV/EHU), Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain
Oscar Altuzarra: Faculty of Engineering in Bilbao, University of the Basque Country (UPV/EHU), Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain

Mathematics, 2023, vol. 11, issue 19, 1-21

Abstract: In design matters, mechanisms with deformable elements are a step behind those with rigid bars, particularly if dimensional synthesis is considered a fundamental part of mechanism design. For the purposes of this work, a hybrid rigid–flexible four-bar mechanism has been chosen, the input bar being a continuum tendon of constant curvature. The coupler curves are noticeably more complex but offer more possibilities than the classical rigid four-bar counterpart. One of the objectives of this work is to completely characterize the coupler curves of this hybrid rigid–flexible mechanism, determining the number and type of circuits as well as constituent branches. Another important aim is to apply optimization techniques to the dimensional synthesis of path generation. Considerable progress in finding the best design solutions can be obtained if all the acquired knowledge about the coupler curves of this hybrid mechanism is integrated into the optimization algorithm.

Keywords: continuum rod; constant curvature; rigid–flexible mechanisms; path generation; dimensional synthesis; optimization (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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