Statics Analysis of Overconstrained Link Mechanisms with Structural Error

Overconstrained mechanisms are expected to have a wide range of applications, such as solar panels in space. However, the driving torque sensitivity to structural errors in these mechanisms is not well understood. In this paper, a novel statics analysis method for overconstrained planar parallel link mechanism is proposed and formulated. By assuming each link as a cantilever Euler beam and incorporating variables such as bending angles at revolute joints, closed-loop constraint equations taking account of elastic deformation can be derived. This approach leads the unique solution of input torque, joint forces and elastic deformations. The variations in input torque and joint forces due to structural errors can be calculated. The proposed method is then applied to analyze the Hoberman mechanism.