Mechanics of Compliant Serial Manipulator Composed of Dual-triangle Segments

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