A completely kinematostatically decoupled XY compliant parallel manipulator through new topology structure

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dc.contributor.author Hao, Guangbo
dc.contributor.author Yu, Jingjun
dc.date.accessioned 2016-05-31T08:37:35Z
dc.date.available 2016-05-31T08:37:35Z
dc.date.issued 2014
dc.identifier.citation 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. en
dc.identifier.startpage 1 en
dc.identifier.endpage 7 en
dc.identifier.uri http://hdl.handle.net/10468/2650
dc.description.abstract 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. 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 manipulator en
dc.subject Complete decoupling en
dc.subject Exact constraint en
dc.subject Analytical modeling en
dc.subject Topology structure en
dc.title A completely kinematostatically decoupled XY compliant parallel manipulator through new topology structure 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 2014-07-16T08:49:00Z
dc.description.version Accepted Version en
dc.internal.rssid 253654377
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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