A structure design method for compliant parallel manipulators with actuation isolation
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Published Version
Supplement
Date
2016-11-30
Authors
Hao, Guangbo
Kong, Xianwen
Journal Title
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Volume Title
Publisher
Copernicus Publications
Published Version
Abstract
Since precise linear actuators of a compliant parallel manipulator suffer from their inability to tolerate the transverse motion/load in the multi-axis motion, actuation isolation should be considered in the compliant manipulator design to eliminate the transverse motion at the point of actuation. This paper presents an effective design method for constructing compliant parallel manipulators with actuation isolation, by adding the same number of actuation legs as the number of the DOF (degree of freedom) of the original mechanism. The method is demonstrated by two design case studies, one of which is quantitatively studied by analytical modelling. The modelling results confirm possible inherent issues of the proposed structure design method such as increased primary stiffness, introduced extra parasitic motions and cross-axis coupling motions.
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Keywords
Compliant parallel manipulators , Analytical modelling , Structure design method , Modelling
Citation
Hao, G. and Kong, X. (2016) 'A structure design method for compliant parallel manipulators with actuation isolation', Mechanical Sciences 7(2), pp. 247-253. doi:10.5194/ms-7-247-2016