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

Robotics