Access to this article is restricted until 24 months after publication by the request of the publisher.. Restriction lift date: 2017-03-24
A constraint and position identification (CPI) approach for the synthesis of decoupled spatial translational compliant parallel manipulators
Loading...
Files
Accepted Version
Date
2015-03-24
Authors
Li, Haiyang
Hao, Guangbo
Journal Title
Journal ISSN
Volume Title
Publisher
Elsevier B.V.
Published Version
Abstract
This paper introduces a screw theory based method termed constraint and position identification (CPI) approach to synthesize decoupled spatial translational compliant parallel manipulators (XYZ CPMs) with consideration of actuation isolation. The proposed approach is based on a systematic arrangement of rigid stages and compliant modules in a three-legged XYZ CPM system using the constraint spaces and the position spaces of the compliant modules. The constraint spaces and the position spaces are firstly derived based on the screw theory instead of using the rigid-body mechanism design experience. Additionally, the constraint spaces are classified into different constraint combinations, with typical position spaces depicted via geometric entities. Furthermore, the systematic synthesis process based on the constraint combinations and the geometric entities is demonstrated via several examples. Finally, several novel decoupled XYZ CPMs with monolithic configurations are created and verified by finite elements analysis. The present CPI approach enables experts and beginners to synthesize a variety of decoupled XYZ CPMs with consideration of actuation isolation by selecting an appropriate constraint and an optimal position for each of the compliant modules according to a specific application.
Description
Keywords
Compliant parallel manipulator , Conceptual design , Position space , Constraint space , Screw theory
Citation
Li, H. and Hao, G. (2015) 'A constraint and position identification (CPI) approach for the synthesis of decoupled spatial translational compliant parallel manipulators', Mechanism and Machine Theory, 90, pp. 59-83. doi: 10.1016/j.mechmachtheory.2015.02.004