A completely kinematostatically decoupled XY compliant parallel manipulator through new topology structure
This paper deals with a completely kinematostaticaly decoupled XY compliant parallel manipulator (CPM) composed of exactly-constrained compliant modules. A new 4-PP XY translational parallel mechanism (TPM) with a new topology structure is firstly proposed where each two P (P: prismatic) joints on the base in two non-adjacent legs are rigidly connected. A novel 4-PP XY CPM is then obtained by replacing each traditional P join on the base in the 4-PP XY TPM with a compound basic parallelogram module (CBPM) and replacing each traditional P joint on the motion stage with a basic parallelogram module (BPM). Approximate analytical model is derived with comparison to the FEA (finite element analysis) model and experiment for a case study. The proposed novel XY CPM has a compact configuration with good dynamics, and is able to well constrain the parasitic rotation and the cross-axis coupling of the motion stage. The cross-axis motion of the input stage can be completely eliminated, and the lost motion between the input stage and the motion stage is significantly reduced.
Compliant parallel manipulator , Complete decoupling , Exact constraint , Analytical modeling , Topology structure
Hao, G. and Yu, J. (2014) 'A completely kinematostatically decoupled XY compliant parallel manipulator through new topology structure', Proceedings of 2014 workshop on fundamental issues and future directions for parallel mechanisms and manipulators (Parallel 2014), 7-8 July, Tianjin, China.
© 2014, the Authors.