Design and Modeling of a Large-Range Modular XYZ Compliant Parallel Manipulator Using Identical Spatial Modules
作者： Guangbo Hao , Xianwen Kong
DOI: 10.1115/1.4006188
关键词:
摘要: A design methodology of XYZ compliant parallel manipulators (CPMs) is introduced at first. spatial double four-beam module and a P (prismatic) joint, composed two modules, are then proposed. Starting from 3-PPPR (R: revolute) translational manipulator, large-range modular CPM with identical modules constructed using the proposed approach. Normalized analytical models for further presented. As case study, motion range 10mm×10mm×10mm presented in detail, covering geometrical parameter determination, performance characteristics analysis, buckling check, actuation force check. The compared finite element analysis (FEA) models. Finally, dynamic issues, manufacturability merits discussed. It shown that has following main existing designs: (1) large up to 10mm×10mm×10mm, (2) reduced number parameters through use although challenging issue.
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