Design and analysis of a compliant parallel pan-tilt platform

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dc.contributor.author Yu, Jingjun
dc.contributor.author Lu, Dengfeng
dc.contributor.author Hao, Guangbo
dc.date.accessioned 2016-05-31T10:21:42Z
dc.date.available 2016-05-31T10:21:42Z
dc.date.issued 2015-02-11
dc.identifier.citation Yu, J., Lu, D. and Hao, G. (2015) 'Design and analysis of a compliant parallel pan-tilt platform', Meccanica, pp.1-12. doi: 10.1007/s11012-015-0116-1 en
dc.identifier.startpage 1 en
dc.identifier.endpage 12 en
dc.identifier.uri http://hdl.handle.net/10468/2652
dc.identifier.doi 10.1007/s11012-015-0116-1
dc.description.abstract In combination of the advantages of both parallel mechanisms and compliant mechanisms, a compliant parallel mechanism with two rotational DOFs (degrees of freedom) is designed to meet the requirement of a lightweight and compact pan-tilt platform. Firstly, two commonly-used design methods i.e. direct substitution and FACT (Freedom and Constraint Topology) are applied to design the configuration of the pan-tilt system, and similarities and differences of the two design alternatives are compared. Then inverse kinematic analysis of the candidate mechanism is implemented by using the pseudo-rigid-body model (PRBM), and the Jacobian related to its differential kinematics is further derived to help designer realize dynamic analysis of the 8R compliant mechanism. In addition, the mechanism’s maximum stress existing within its workspace is tested by finite element analysis. Finally, a method to determine joint damping of the flexure hinge is presented, which aims at exploring the effect of joint damping on actuator selection and real-time control. To the authors’ knowledge, almost no existing literature concerns with this issue. en
dc.description.sponsorship National Natural Science Foundation of China (Grant No. 51175010); Foundation of Education of China (PhD Grant No. 20111102130004) en
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.publisher Springer Science and Business Media en
dc.rights © 2015, Springer Science and Business Media. The final publication is available at Springer via http://dx.doi.org/10.1007/s11012-015-0116-1 en
dc.subject Compliant parallel mechanism en
dc.subject Pan-tilt en
dc.subject Flexure hinge en
dc.subject Joint damping en
dc.title Design and analysis of a compliant parallel pan-tilt platform 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 2015-01-26T11:07:02Z
dc.description.version Accepted Version en
dc.internal.rssid 288085695
dc.contributor.funder National Natural Science Foundation of China
dc.contributor.funder Foundation of Education of China
dc.description.status Peer reviewed en
dc.identifier.journaltitle Meccanica en
dc.internal.copyrightchecked No en
dc.internal.licenseacceptance Yes en
dc.internal.IRISemailaddress g.hao@ucc.ie en


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