Paper Title:
Structure Synthesis of 3-RRS Type Spatial Compliant Parallel Manipulator
  Abstract

Parallel manipulators has been extensively studied by virtues or its high force-to-weight ratio and widely spread applications such as vehicle or flight simulator, a machine tool and the end effector of robot system. However, as each limb includes several rigid joints, assembling error is demanded strictly, especially in precision measurement and micro-electronics. On the other hand, compliant mechanisms take advantage of recoverable deformation to transfer or transform motion, force, or energy and the benefits of compliant mechanisms mainly come from the elimination of traditional rigid joints, but the traditional displacement method reduce the stiffness of spatial compliant parallel manipulators. In this paper, a new approach of structure synthesis of 3-DoF rotational compliant parallel manipulators is proposed. Based on screw theory, the structures of RRS type 3-DoF rotational spatial compliant parallel manipulator are developed. Experiments via ANSYS are conducted to give some validation of the theoretical analysis.

  Info
Periodical
Edited by
Ran Chen
Pages
1375-1379
DOI
10.4028/www.scientific.net/AMM.44-47.1375
Citation
D. C. Zhu, L. Meng, T. Jiang, "Structure Synthesis of 3-RRS Type Spatial Compliant Parallel Manipulator", Applied Mechanics and Materials, Vols. 44-47, pp. 1375-1379, 2011
Online since
December 2010
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Da Chang Zhu, Yan Ping Feng
Abstract:A new approach of structure synthesis of 3-DoF compliant parallel manipulators with flexure hinge is proposed in this paper. Based on...
143
Authors: Da Chang Zhu, Yu Hang Chen, Li Meng
Abstract:Nanomanipulation could be defined as the manipulation of nanometer size objects using a nanometer size end effector with ultra precision,...
1370
Authors: Da Chang Zhu, Qi Hua Gu, Liang Wang, Fan Xiao
Abstract:A novel type of 4-RPUR spatial compliant parallel manipulator which named whole compliant parallel manipulator (WCPM) is presented in this...
1069
Authors: Štefan Havlík, Jaroslav Hricko
Abstract:The problem of multi d.o.f. positioning devices based on compact compliant kinematic mechanisms is to guarantee the desired positional...
18
Authors: Hai Xu, Lu Bin Hang, Jin Cai, Zhi Yu Fu, Peng Ju Zhang, Wu Shan Cheng
Chapter 10: Robotics and Mechatronics
Abstract:Traditionally compliant mechanism is difficult to achieve decoupling features, because of lack of definite theory and its deformability...
1005