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Design of 3-legged XYZ compliant parallel manipulators with minimised parasitic rotations

Published online by Cambridge University Press:  13 March 2014

Guangbo Hao  and
Haiyang Li
Guangbo Hao*
Affiliation:
School of Engineering, University College Cork, Cork, Ireland
Haiyang Li
Affiliation:
School of Engineering, University College Cork, Cork, Ireland
*
*Corresponding author. Email: g.hao@ucc.ie
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Summary

This paper deals with the design of 3-legged distributed-compliance XYZ compliant parallel manipulators (CPMs) with minimised parasitic rotations, based on the kinematically decoupled 3-PPPRR (P: prismatic joint, and R: revolute joint) and 3-PPPR translational parallel mechanisms (TPMs). The designs are firstly proposed using the kinematic substitution approach, with the help of the stiffness center (SC) overlapping based approach. This is done by an appropriate embedded arrangement so that all of the SCs associated with the passive compliant modules overlap at the point where all of the input forces applied at the input stages intersect. Kinematostatic modelling and characteristic analysis are then carried out for the proposed large-range 3-PPPRR XYZ CPM with overlapping SCs. The results from finite element analysis (FEA) are compared to the characteristics found for the developed analytical models, as are experimental testing results (primary motion) from the prototyped 3-PPPRR XYZ CPM with overlapping SCs. Finally, issues on large-range motion and dynamics of such designs are discussed, as are possible improvements of the actuated compliant P joint. It is shown that the potential merits of the designs presented here include a) minimised parasitic rotations by only using three identical compliant legs; b) compact configurations and small size due to the use of embedded designs; c) approximately kinematostatically decoupled designs capable of easy controls; and d) monolithic fabrication for each leg using existing planar manufacturing technologies such as electric discharge machining (EDM).

Keywords

Translational parallel manipulatorsCompliant mechanismsParasitic rotationsOverlapping stiffness centersDistributed compliance3-legged configuration
Type
Articles
Information
Robotica , Volume 33 , Issue 4 , May 2015 , pp. 787 - 806
Copyright
Copyright © Cambridge University Press 2014 

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