A constraint and position identification (CPI) approach for the synthesis of decoupled spatial translational compliant parallel manipulators

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dc.contributor.author Li, Haiyang
dc.contributor.author Hao, Guangbo
dc.date.accessioned 2016-05-31T10:47:42Z
dc.date.available 2016-05-31T10:47:42Z
dc.date.issued 2015-03-24
dc.identifier.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 en
dc.identifier.volume 90 en
dc.identifier.startpage 59 en
dc.identifier.endpage 83 en
dc.identifier.issn 0094-114X
dc.identifier.uri http://hdl.handle.net/10468/2654
dc.identifier.doi 10.1016/j.mechmachtheory.2015.02.004
dc.description.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. en
dc.description.sponsorship Irish Research Council for Science Engineering and Technology (Embark PhD Scholarship RS/2012/361) en
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.publisher Elsevier B.V. en
dc.relation.uri http://www.sciencedirect.com/science/article/pii/S0094114X15000324
dc.rights © 2015, Elsevier B.V. This manuscript version is made available under the CC-BY-NC-ND 4.0 license en
dc.rights.uri http://creativecommons.org/licenses/by-nc-nd/4.0/ en
dc.subject Compliant parallel manipulator en
dc.subject Conceptual design en
dc.subject Position space en
dc.subject Constraint space en
dc.subject Screw theory en
dc.title A constraint and position identification (CPI) approach for the synthesis of decoupled spatial translational compliant parallel manipulators 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 not available en
dc.check.info Access to this article is restricted until 24 months after publication by the request of the publisher. en
dc.check.date 2017-03-24
dc.date.updated 2015-02-18T09:16:45Z
dc.description.version Accepted Version en
dc.internal.rssid 290895304
dc.contributor.funder Irish Research Council for Science Engineering and Technology en
dc.description.status Peer reviewed en
dc.identifier.journaltitle Mechanism and Machine Theory en
dc.internal.copyrightchecked No en
dc.internal.licenseacceptance Yes en
dc.internal.IRISemailaddress g.hao@ucc.ie en


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© 2015, Elsevier B.V. This manuscript version is made available under the CC-BY-NC-ND 4.0 license Except where otherwise noted, this item's license is described as © 2015, Elsevier B.V. This manuscript version is made available under the CC-BY-NC-ND 4.0 license
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