CUBEs: decoupled, compact, and monolithic spatial translational compliant parallel manipulators

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dc.contributor.author Hao, Guangbo
dc.contributor.author Li, Haiyang
dc.date.accessioned 2016-05-31T08:30:23Z
dc.date.available 2016-05-31T08:30:23Z
dc.date.issued 2014
dc.identifier.citation Hao, G. and Li, H. (2014) 'CUBEs: decoupled, compact, and monolithic spatial translational compliant parallel manipulators', Proceedings of 2014 workshop on fundamental issues and future directions for parallel mechanisms and manipulators (Parallel 2014), 7-8 July, Tianjin, China. en
dc.identifier.startpage 1 en
dc.identifier.endpage 7 en
dc.identifier.uri http://hdl.handle.net/10468/2649
dc.description.abstract This paper deals with the conceptual design of decoupled, compact, and monolithic XYZ compliant parallel manipulators (CPMs): CUBEs. Position spaces of compliant P (P: prismatic) joints are first discussed, which are represented by circles about the translational directions. A design method of monolithic XYZ CPMs is then proposed in terms of both the kinematic substitution method and the position spaces. Three types of monolithic XYZ CPMs are finally designed using the proposed method with the help of three classes of kinematical decoupled 3-DOF (degree of freedom) translational parallel mechanisms (TPMs). These monolithic XYZ CPMs include a 3-PPP XYZ CPM composed of identical parallelogram modules (a previously reported design), a novel 3-PPPR (R: revolute) XYZ CPM composed of identical compliant four-beam modules, and a novel 3-PPPRR XYZ CPM. The latter two monolithic designs also have extended lives. It is shown that the proposed design method can be used to design other decoupled and compact XYZ CPMs by using the concept of position spaces, and the resulting XYZ CPM is the most compact one when the fixed ends of the three actuated compliant P joints thereof overlap. en
dc.description.sponsorship Irish Research Council for Science Engineering and Technology (Embark PhD Scholarship RS/2012/361) en
dc.description.uri http://www.cmes.org/file/sc/doc/2013/20130701-d3j-fifr-2.pdf en
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.relation.ispartof 2014 IFToMM Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators
dc.rights © 2014, the Authors. en
dc.subject Compliant parallel mechanisms en
dc.subject Position spaces en
dc.subject Decoupling en
dc.subject Compactness en
dc.subject Monolithic fabrication en
dc.subject Extended life en
dc.title CUBEs: decoupled, compact, and monolithic spatial translational compliant parallel manipulators en
dc.type Conference item 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 2014-07-16T08:56:16Z
dc.description.version Accepted Version en
dc.internal.rssid 263335526
dc.contributor.funder Irish Research Council for Science Engineering and Technology en
dc.description.status Peer reviewed en
dc.internal.copyrightchecked No en
dc.internal.licenseacceptance Yes en
dc.internal.conferencelocation Tianjin, China en
dc.internal.IRISemailaddress g.hao@ucc.ie en


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