Design of 3-legged XYZ compliant parallel manipulators with minimised parasitic rotations

Show simple item record Hao, Guangbo Li, Haiyang 2014-04-14T11:58:18Z 2014-04-14T11:58:18Z 2014-03
dc.identifier.citation Guangbo Hao and Haiyang Li. 2014. Design of 3-legged XYZ compliant parallel manipulators with minimised parasitic rotations . Robotica, available on CJO2014. doi:10.1017/S0263574714000575. en
dc.identifier.issn 1469-8668
dc.identifier.doi 10.1017/S0263574714000575
dc.description.abstract This paper deals with the design of 3-legged distributed-compliance XYZ compliant parallel manipulators (CPMs) with minimised parasitic rotations, based on the kinematically decoupled 3-PPPRR (P: prismatic joint, and R: revolute joint) and 3-PPPR translational parallel mechanisms (TPMs). The designs are firstly proposed using the kinematic substitution approach, with the help of the stiffness center (SC) overlapping based approach. This is done by an appropriate embedded arrangement so that all of the SCs associated with the passive compliant modules overlap at the point where all of the input forces applied at the input stages intersect. Kinematostatic modelling and characteristic analysis are then carried out for the proposed large-range 3-PPPRR XYZ CPM with overlapping SCs. The results from finite element analysis (FEA) are compared to the characteristics found for the developed analytical models, as are experimental testing results (primary motion) from the prototyped 3-PPPRR XYZ CPM with overlapping SCs. Finally, issues on large-range motion and dynamics of such designs are discussed, as are possible improvements of the actuated compliant P joint. It is shown that the potential merits of the designs presented here include a) minimised parasitic rotations by only using three identical compliant legs; b) compact configurations and small size due to the use of embedded designs; c) approximately kinematostatically decoupled designs capable of easy controls; and d) monolithic fabrication for each leg using existing planar manufacturing technologies such as electric discharge machining (EDM). en
dc.description.sponsorship Enterprise Ireland (CF20122748Y); University College Cork (UCC 2013 Strategic Research Fund) en
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.publisher Cambridge University Press en
dc.rights Copyright © Cambridge University Press 2014. This article has been accepted for publication and will appear in a revised form, subsequent to peer review and/or editorial input by Cambridge University Press, in Robotica published by Cambridge University Press en
dc.subject Translational parallel manipulators en
dc.subject Compliant mechanisms en
dc.subject Parasitic rotations en
dc.subject Overlapping stiffness centers en
dc.subject Distributed compliance en
dc.subject 3-legged configuration en
dc.title Design of 3-legged XYZ compliant parallel manipulators with minimised parasitic rotations en
dc.type Article (peer-reviewed) en
dc.internal.authorcontactother Guangbo Hao, Electrical & Electronic Engineering, University College Cork, Cork, Ireland. +353-21-490-3000 Email: en
dc.internal.availability Full text available en 2014-04-03T23:31:40Z
dc.description.version Accepted Version en
dc.internal.rssid 250206109
dc.contributor.funder Enterprise Ireland en
dc.description.status Peer reviewed en
dc.identifier.journaltitle Robotica en
dc.internal.copyrightchecked No. !!CORA!! Romeo and publiser's website. AV and set statement. Must update record on publication the full bibliographical details of the article (volume: issue number (date), page numbers) must be inserted after the journal title, together with a link to the Cambridge website address for the Journal. en
dc.internal.licenseacceptance Yes en
dc.internal.IRISemailaddress en

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