Path Analysis for Hybrid Rigid–Flexible Mechanisms

Hybrid rigid–flexible mechanisms are a type of compliant mechanism that combines rigid and flexible elements, being their mobility is due to rigid-body joints the relative flexibility bendable rods. Two modeling methods rods Cosserat rod model its simplification, Kirchhoff model. Both them present system differential equations must be solved in conjunction with boundary constraints rod, leading value problem (BVP). In this work, two solve BVP applied analyze influence external loads movement hybrid mechanisms. First, shooting method (SM) used integrate directly shape forces appear it. Then, an integration elliptic integrals (EI) carried out workspace element, considering buckling mode. Applying both methods, algorithm obtains locus all possible trajectories mechanism’s coupler point, detects mode change, developed. This also allows calculating circuits mechanism. Thus, performance within path analysis demonstrated.