A structure design method for compliant parallel manipulators with actuation isolation

Simple item page
dc.contributor.authorHao, Guangbo
dc.contributor.authorKong, Xianwen
dc.date.accessioned2016-12-14T15:52:11Z
dc.date.available2016-12-14T15:52:11Z
dc.date.issued2016-11-30
dc.date.updated2016-12-14T15:46:03Z
dc.description.abstractSince 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.en
dc.description.statusPeer revieweden
dc.description.versionPublished Versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.citationHao, 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-7-247-2016en
dc.identifier.doi10.5194/ms-7-247-2016
dc.identifier.endpage253en
dc.identifier.issn2191-9151
dc.identifier.issued2en
dc.identifier.journaltitleMechanical Sciencesen
dc.identifier.startpage247en
dc.identifier.urihttps://hdl.handle.net/10468/3383
dc.identifier.volume7en
dc.language.isoenen
dc.publisherCopernicus Publicationsen
dc.rights© Author(s) 2016. This work is distributed under the Creative Commons Attribution 3.0 License.en
dc.rights.urihttps://creativecommons.org/licenses/by/3.0/en
dc.subjectCompliant parallel manipulatorsen
dc.subjectAnalytical modellingen
dc.subjectStructure design methoden
dc.subjectModellingen
dc.titleA structure design method for compliant parallel manipulators with actuation isolationen
dc.typeArticle (peer-reviewed)en
Files
Original bundle
Now showing 1 - 2 of 2
Thumbnail Image
Name:
2028.pdf
Size:
1.63 MB
Format:
Adobe Portable Document Format
Description:
Published Version
Download
Thumbnail Image
Name:
2028_1.pdf
Size:
519.9 KB
Format:
Adobe Portable Document Format
Description:
Supplement
Download
License bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
license.txt
Size:
2.71 KB
Format:
Item-specific license agreed upon to submission
Description:
Download
Collections
Electrical and Electronic Engineering - Journal Articles