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Design and Modelling of Spatial Compliant Parallel Mechanisms for Large Range of Translation

[+] Author Affiliations
Guangbo Hao, Xianwen Kong

Heriot-Watt University, Edinburgh, UK

Qiaoling Meng

University of Bologna, Bologna, Italy

Paper No. DETC2010-28046, pp. 329-340; 12 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


A new distributed-compliance module, which can be used as a building block, is proposed at first. A novel 3-DOF compliant parallel mechanism (CPM) and its improved configuration for large range of translation are then proposed using the new building blocks. The analytical models of the spatial modules and 3-DOF translational CPMs are then presented and analyzed. The proposed improved 3-DOF translational CPM has the following merits: (1) It is approximately decoupled and has a workspace of 0.1Lmm×0.1Lmm×0.1Lmm (L: the beam length in the module) with constrained parasitic error, maximal actuation isolation and minimal lost motion. (2) Its configuration is simple and compact, and it is actuated by three linear actuators directly. (3) The normalization strategy not only simplifies the representation and derivation of the equations, but also makes the compliance matrix reflect the displacement associated with each degree of freedom in a straightforward manner. The proposed analytical model for the improved 3-DOF CPM has been verified using FEA.

Copyright © 2010 by ASME



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