Design and analysis of a compliant parallel pan-tilt platform
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Accepted Version
Date
2015-02-11
Authors
Yu, Jingjun
Lu, Dengfeng
Hao, Guangbo
Journal Title
Journal ISSN
Volume Title
Publisher
Springer Science and Business Media
Published Version
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.
Description
Keywords
Compliant parallel mechanism , Pan-tilt , Flexure hinge , Joint damping
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
Copyright
© 2015, Springer Science and Business Media. The final publication is available at Springer via http://dx.doi.org/10.1007/s11012-015-0116-1