The paper shows an appropriate unitary study of a novel geared planar parallel manipulator with the structure 3-R (PRRGR)RR which uses geared linkages with linear actuators and slider cranks as legs. The use of geared linkages with linear actuation although with more complex structure, allows a large rotation angle with proper transmission angle in the linkages and the approximately linear transmission function within large range. A positional kinematic analysis of the 3-R (PRRGR)RR was developed with a unitary analytical model, which is worked out through a numerical example that computes the singularities of type I and II together with the local and global performance indices, namely manipulability, conditioning number, kinematic, stiffness and transmission indices. The presented results are discussed and compared with an equivalent 3-RRR planar parallel manipulator with the same links lengths to highlight the kinematic advantages of the proposed planar parallel manipulator 3-R (PRRGR)RR. The novel geared planar parallel manipulator is designed and simulated in Creo Parametric in order to validate the analytical model with a numerical performance characterization.
Compliant mechanisms with integrated actuators can enable new function-integrative structures through the elastic deformation of elements without the use of classical links and joints. For such designs, the mechanical behaviour of the mechanism has to be well known, because external loads, the utilised materials and the geometry of the structural parts influence the deformation performance significantly. In order to speed up the development process of such mechanisms, a tool for the dynamic analysis of compliant movements is necessary before any further FEM simulation and manufacturing. Therefore, the paper presents a simulating procedure for active compliant mechanisms obtained through the integration of piezoceramic actuators into fibrereinforced composite structures using a double layer model. A new mechanism was designed, simulated, constructed and tested. The comparison between simulation and experimental results confirm the effectiveness of the presented procedure in regard to the design phase of new active compliant structures.
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