Conceptual designs of multi-degree of freedom compliant parallel manipulators composed of wire-beam based compliant mechanisms

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dc.contributor.author Hao, Guangbo
dc.contributor.author Li, Haiyang
dc.date.accessioned 2016-05-27T10:56:54Z
dc.date.available 2016-05-27T10:56:54Z
dc.date.issued 2014-05-15
dc.identifier.citation Hao, G. and Li, H. (2014) 'Conceptual designs of multi-degree of freedom compliant parallel manipulators composed of wire-beam based compliant mechanisms', Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 229(3), pp. 538-555. doi: 10.1177/0954406214535925 en
dc.identifier.volume 229 en
dc.identifier.issued 3 en
dc.identifier.startpage 538 en
dc.identifier.endpage 555 en
dc.identifier.uri http://hdl.handle.net/10468/2638
dc.identifier.doi doi: 10.1177/0954406214535925
dc.description.abstract This paper proposes conceptual designs of multi-degree(s) of freedom (DOF) compliant parallel manipulators (CPMs) including 3-DOF translational CPMs and 6-DOF CPMs using a building block based pseudo-rigid-body-model (PRBM) approach. The proposed multi-DOF CPMs are composed of wire-beam based compliant mechanisms (WBBCMs) as distributed-compliance compliant building blocks (CBBs). Firstly, a comprehensive literature review for the design approaches of compliant mechanisms is conducted, and a building block based PRBM is then presented, which replaces the traditional kinematic sub-chain with an appropriate multi-DOF CBB. In order to obtain the decoupled 3-DOF translational CPMs (XYZ CPMs), two classes of kinematically decoupled 3-PPPR (P: prismatic joint, R: revolute joint) translational parallel mechanisms (TPMs) and 3-PPPRR TPMs are identified based on the type synthesis of rigid-body parallel mechanisms, and WBBCMs as the associated CBBs are further designed. Via replacing the traditional actuated P joint and the traditional passive PPR/PPRR sub-chain in each leg of the 3-DOF TPM with the counterpart CBBs (i.e. WBBCMs), a number of decoupled XYZ CPMs are obtained by appropriate arrangements. In order to obtain the decoupled 6-DOF CPMs, an orthogonally-arranged decoupled 6-PSS (S: spherical joint) parallel mechanism is first identified, and then two example 6-DOF CPMs are proposed by the building block based PRBM method. It is shown that, among these designs, two types of monolithic XYZ CPM designs with extended life have been presented. en
dc.description.sponsorship Irish Research Council for Science Engineering and Technology (Embark PhD Scholarship RS/2012/361) en
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.publisher Sage Publishing Ltd en
dc.rights © 2014, Institution of Mechanical Engineers. en
dc.subject Conceptual designs en
dc.subject Compliant mechanisms en
dc.subject Parallel mechanisms en
dc.subject Wire-beam based mechanisms en
dc.subject Compliant building blocks en
dc.subject Multi-DOF manipulators en
dc.title Conceptual designs of multi-degree of freedom compliant parallel manipulators composed of wire-beam based compliant mechanisms en
dc.type Article (peer-reviewed) en
dc.internal.authorcontactother Guangbo Hao, Electrical and Electronic Engineering, University College Cork, Cork, Ireland. +353-21-490-3000 Email: g.hao@ucc.ie en
dc.internal.availability Full text available en
dc.date.updated 2014-04-28T08:37:02Z
dc.description.version Accepted Version en
dc.internal.rssid 253272569
dc.contributor.funder Irish Research Council for Science Engineering and Technology en
dc.description.status Peer reviewed en
dc.identifier.journaltitle Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science en
dc.internal.copyrightchecked Yes. Sherpa Romeo. AV permitted after publication. Article not yet published 28 Apr 2014. en
dc.internal.licenseacceptance Yes en
dc.internal.IRISemailaddress g.hao@ucc.ie en


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