Abstract
This paper presents a novel class of 3-DOF translational compliant parallel manipulators (CPMs) based on flexure motion. The analytic mathematic modeling of CPMs is first developed. The analysis of CPMs is then implemented. It is shown that the proposed CPMs have many characteristics such as large range of motion, negligible cross-axis coupling, actuator complete isolation, and no loss motion and no rotational yaw. The inverse relationships of force-displacement of the 3-DOF CPM are further derived to calculate the input forces required for generating a specified path. In addition, the 3-DOF CPM can also be turned into a 2-DOF CPM. This work lays the foundation for the development of new spatial CPMs based on flexure motions for applications such as ultra precision manipulation. Copyright © 2009 by ASME.
| Original language | English |
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| Title of host publication | Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009 |
| Pages | 101-110 |
| Number of pages | 10 |
| Volume | 7 |
| Edition | PART A |
| Publication status | Published - 2010 |
| Event | 2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - San Diego, CA, United States Duration: 30 Aug 2009 → 2 Sept 2009 |
Conference
| Conference | 2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
|---|---|
| Abbreviated title | DETC2009 |
| Country/Territory | United States |
| City | San Diego, CA |
| Period | 30/08/09 → 2/09/09 |