TY - GEN
T1 - A 3-DOF translational compliant parallel manipulator based on flexure motion
AU - Hao, Guangbo
AU - Kong, Xianwen
PY - 2010
Y1 - 2010
N2 - This paper presents a novel class of 3-DOF translational compliant parallel manipulators (CPMs) based on flexure motion. The analytic mathematic modeling of CPMs is first developed. The analysis of CPMs is then implemented. It is shown that the proposed CPMs have many characteristics such as large range of motion, negligible cross-axis coupling, actuator complete isolation, and no loss motion and no rotational yaw. The inverse relationships of force-displacement of the 3-DOF CPM are further derived to calculate the input forces required for generating a specified path. In addition, the 3-DOF CPM can also be turned into a 2-DOF CPM. This work lays the foundation for the development of new spatial CPMs based on flexure motions for applications such as ultra precision manipulation.
AB - This paper presents a novel class of 3-DOF translational compliant parallel manipulators (CPMs) based on flexure motion. The analytic mathematic modeling of CPMs is first developed. The analysis of CPMs is then implemented. It is shown that the proposed CPMs have many characteristics such as large range of motion, negligible cross-axis coupling, actuator complete isolation, and no loss motion and no rotational yaw. The inverse relationships of force-displacement of the 3-DOF CPM are further derived to calculate the input forces required for generating a specified path. In addition, the 3-DOF CPM can also be turned into a 2-DOF CPM. This work lays the foundation for the development of new spatial CPMs based on flexure motions for applications such as ultra precision manipulation.
UR - https://www.scopus.com/pages/publications/77953805598
UR - https://www.scopus.com/pages/publications/82155183186
U2 - 10.1115/DETC2009-86075
DO - 10.1115/DETC2009-86075
M3 - Conference proceeding
AN - SCOPUS:82155183186
SN - 9780791849040
T3 - Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
SP - 101
EP - 110
BT - Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
T2 - 2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009
Y2 - 30 August 2009 through 2 September 2009
ER -