A Novel Structure Design of 4-DOF Spatial Compliant Parallel Manipulator

Da Chang Zhu; Qi Hua Gu; Liang Wang; Fan Xiao

doi:10.4028/www.scientific.net/KEM.474-476.1069

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HomeKey Engineering MaterialsKey Engineering Materials Vols. 474-476A Novel Structure Design of 4-DOF Spatial...

A Novel Structure Design of 4-DOF Spatial Compliant Parallel Manipulator

Abstract:

A novel type of 4-RPUR spatial compliant parallel manipulator which named whole compliant parallel manipulator (WCPM) is presented in this paper. Compared with traditional design method, a novel 4-RPUR type spatial compliant parallel manipulator which satisfy the geometrical constraint conditions in spatial is proposed. By using ANSYS software, the proposed two kinds of compliant parallel manipulator are analyzed. The effectiveness of the proposed method is verified by simulation and experiments.

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Periodical:

Key Engineering Materials (Volumes 474-476)

Pages:

1069-1074

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.474-476.1069

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Online since:

April 2011

Authors:

Da Chang Zhu, Qi Hua Gu, Liang Wang, Fan Xiao

Keywords:

4-RPUR Type SCPM, Geometrical Constraint Condition, Spatial Compliant Parallel Manipulator (SCPM), Stiffness

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