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.

• Periodical: Applied Mechanics and Materials (Volumes 44-47)
• Pages: 1375-1379
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.44-47.1375
• Online since: December 2010
• Authors: Da Chang Zhu, Li Meng, Tao Jiang
• Keywords: RRS Type, Spatial Compliant Parallel Manipulator, Structure Synthesis

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