A 3-DOF translational compliant parallel manipulator based on flexure motion

Guangbo Hao, Xianwen Kong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Pages101-110
Number of pages10
Volume7
EditionPART A
Publication statusPublished - 2010
Event2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - San Diego, CA, United States
Duration: 30 Aug 20092 Sep 2009

Conference

Conference2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Abbreviated titleDETC2009
CountryUnited States
CitySan Diego, CA
Period30/08/092/09/09

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  • Cite this

    Hao, G., & Kong, X. (2010). A 3-DOF translational compliant parallel manipulator based on flexure motion. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009 (PART A ed., Vol. 7, pp. 101-110)