Conceptual designs of multi-degree of freedom compliant parallel manipulators composed of wire-beam based compliant mechanisms

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dc.contributor.authorHao, Guangbo
dc.contributor.authorLi, Haiyang
dc.contributor.funderIrish Research Council for Science Engineering and Technologyen
dc.date.accessioned2016-05-27T10:56:54Z
dc.date.available2016-05-27T10:56:54Z
dc.date.issued2014-05-15
dc.date.updated2014-04-28T08:37:02Z
dc.description.abstractThis paper proposes conceptual designs of multi-degree(s) of freedom (DOF) compliant parallel manipulators (CPMs) including 3-DOF translational CPMs and 6-DOF CPMs using a building block based pseudo-rigid-body-model (PRBM) approach. The proposed multi-DOF CPMs are composed of wire-beam based compliant mechanisms (WBBCMs) as distributed-compliance compliant building blocks (CBBs). Firstly, a comprehensive literature review for the design approaches of compliant mechanisms is conducted, and a building block based PRBM is then presented, which replaces the traditional kinematic sub-chain with an appropriate multi-DOF CBB. In order to obtain the decoupled 3-DOF translational CPMs (XYZ CPMs), two classes of kinematically decoupled 3-PPPR (P: prismatic joint, R: revolute joint) translational parallel mechanisms (TPMs) and 3-PPPRR TPMs are identified based on the type synthesis of rigid-body parallel mechanisms, and WBBCMs as the associated CBBs are further designed. Via replacing the traditional actuated P joint and the traditional passive PPR/PPRR sub-chain in each leg of the 3-DOF TPM with the counterpart CBBs (i.e. WBBCMs), a number of decoupled XYZ CPMs are obtained by appropriate arrangements. In order to obtain the decoupled 6-DOF CPMs, an orthogonally-arranged decoupled 6-PSS (S: spherical joint) parallel mechanism is first identified, and then two example 6-DOF CPMs are proposed by the building block based PRBM method. It is shown that, among these designs, two types of monolithic XYZ CPM designs with extended life have been presented.en
dc.description.sponsorshipIrish Research Council for Science Engineering and Technology (Embark PhD Scholarship RS/2012/361)en
dc.description.statusPeer revieweden
dc.description.versionAccepted Versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.citationHao, G. and Li, H. (2014) 'Conceptual designs of multi-degree of freedom compliant parallel manipulators composed of wire-beam based compliant mechanisms', Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 229(3), pp. 538-555. doi: 10.1177/0954406214535925en
dc.identifier.doi10.1177/0954406214535925
dc.identifier.endpage555en
dc.identifier.issued3en
dc.identifier.journaltitleProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Scienceen
dc.identifier.startpage538en
dc.identifier.urihttps://hdl.handle.net/10468/2638
dc.identifier.volume229en
dc.language.isoenen
dc.publisherSage Publishing Ltden
dc.rights© 2014, Institution of Mechanical Engineers.en
dc.subjectConceptual designsen
dc.subjectCompliant mechanismsen
dc.subjectParallel mechanismsen
dc.subjectWire-beam based mechanismsen
dc.subjectCompliant building blocksen
dc.subjectMulti-DOF manipulatorsen
dc.titleConceptual designs of multi-degree of freedom compliant parallel manipulators composed of wire-beam based compliant mechanismsen
dc.typeArticle (peer-reviewed)en
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