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On the Design of a 3-PRRR Spatial Parallel Compliant Mechanism

[+] Author Affiliations
Yang Wang, Clément M. Gosselin

Université Laval, Québec, Québec, Canada

Paper No. DETC2004-57140, pp. 387-395; 9 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


Because wear, clearance and backlash can be reduced or eliminated, one of the important advantages of compliant mechanisms is their potential to increase the mechanism precision dramatically. In this paper, a spatial compliant mechanism based on the 3-PRRR parallel mechanism driven by linear motors is presented. The design methodology is described and the kinematic and static models are developed. Using the “transmission ratio”, an effective and simple compensation method is designed. The performances of this mechanism are studied with the help of the structure simulation module in Pro-Mechanica. Using an open-loop control with compensation, measurements over a 20×20×20 mm3 workspace show that the position accuracy is smaller than 1 μm, i.e., 0.05% of the full range of motion and that the orientation error is less than 1 μradian.

Copyright © 2004 by ASME



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