A Novel Structure Design of 4-DOF Spatial Compliant Parallel Manipulator
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.
D. C. Zhu et al., "A Novel Structure Design of 4-DOF Spatial Compliant Parallel Manipulator", Key Engineering Materials, Vols. 474-476, pp. 1069-1074, 2011