A Spatial 3-DOF Translational Compliant Parallel Manipulator
A new approach of structure synthesis of 3-DoF compliant parallel manipulators with flexure hinge is proposed in this paper. Based on characteristics of flexure hinge and topology optimal method, the kinematics of the 3-DOF perpendicular compliant parallel manipulator with flexure hinge and its control system are developed. The parallel manipulator is driven by three piezoelectric actuators and the three actuators in this mechanism are arranged according to the Cartesian coordinate system. Experiments are conducted to give some validation of the theoretical analysis.
Shengyi Li, Yingchun Liu, Rongbo Zhu, Hongguang Li, Wensi Ding
D. C. Zhu and Y. P. Feng, "A Spatial 3-DOF Translational Compliant Parallel Manipulator", Applied Mechanics and Materials, Vols. 34-35, pp. 143-147, 2010