Simulation driven performance characterization of a spatial compliant parallel mechanism

Gao, Zhen; Zhang, Dan

doi:10.1007/s10999-014-9243-4

Cited by 7 publications

(4 citation statements)

References 43 publications

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“…Choi et al [5] proposed a compliant parallel mechanism for two translations and applied it to fine motion stage driven by piezo actuators, and four flexure-based prismatic joint chains are arranged in four sides of a target platform to implement the compliant parallel mechanism. Gao and Zhang [6] designed a novel three-DOF compliant parallel mechanism and its performance characterization is analyzed which affects the application potential. Treatments of the characterization and design of compliant parallel mechanisms may also be found in literatures [7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Topology Optimization of 3-DOF Peristaltic Structure Robot Based on Vector Continuous Mapping Matrix

Wang

Zhu

Liu

2016

Mathematical Problems in Engineering

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A mechanism for topology optimization of 3-DOF parallel peristaltic structure robot with vector continuous mapping matrix using Solid Isotropic Material with Penalization (SIMP) method is presented in this paper. We focus on how to prevent the differential motion consistency between parallel prototype mechanisms with peristaltic structure. As the conventional parallel robot joints/hinges are no longer needed after topology optimization, therefore, we renamed this kind of 3-DOF robot structures as peristaltic structure. In the proposed method, the vector continuous mapping matrix is built as stress/strain transfer direction conditions for topology optimization of peristaltic structure, and SIMP method is used for multi-inputs and multioutputs decided by parallel prototype mechanisms. Some numerical examples are presented to illustrate the validity of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Topology Optimization of 3-DOF Peristaltic Structure Robot Based on Vector Continuous Mapping Matrix

Wang

Zhu

Liu

2016

Mathematical Problems in Engineering

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“…However, FEM is preferred in the verification of the final design of an optimized manipulator [25] . The merits of the method are explained in [26] and studies on computation of stiffness via FEM are presented in [27][28][29][30][31] .…”

Section: Finite Element Methodsmentioning

confidence: 99%

Time efficient stiffness model computation for a parallel haptic mechanism via the virtual joint method

Görgülü

Carbone

Dede

2020

Mechanism and Machine Theory

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“…[2][3][4] The structural stiffness of links has been analysed for applications with fast and precise dynamics, [5][6][7] as well as in the analysis of compliant manipulators. [8][9][10][11][12][13] A symbolic expression of the Cartesian stiffness matrix is often valuable, e.g. for optimisation purposes in the early design phase.…”

Section: Introductionmentioning

confidence: 99%

“…2–4 The structural stiffness of links has been analysed for applications with fast and precise dynamics, 5–7 as well as in the analysis of compliant manipulators. 8–13…”

Section: Introductionmentioning

confidence: 99%

Jacobian-based stiffness analysis method for parallel manipulators with non-redundant legs

Hoevenaars

Lambert

Herder

2015

Proceedings of the Institution of Mechanical Engineers, Part C:

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Stiffness is an important element in the model of a parallel manipulator. A complete stiffness analysis includes the contributions of joints as well as structural elements. Parallel manipulators potentially include both actuated joints, passive compliant joints, and zero stiffness joints, while a leg may impose constraints on the end-effector in the case of lower mobility parallel manipulators. Additionally, parallel manipulators are often designed to interact with an environment, which means that an external wrench may be applied to the end-effector. This paper presents a Jacobian-based stiffness analysis method, based on screw theory, that effectively considers all above aspects and which also applies to parallel manipulators with non-redundant legs.

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Simulation driven performance characterization of a spatial compliant parallel mechanism

Cited by 7 publications

References 43 publications

Topology Optimization of 3-DOF Peristaltic Structure Robot Based on Vector Continuous Mapping Matrix

Topology Optimization of 3-DOF Peristaltic Structure Robot Based on Vector Continuous Mapping Matrix

Time efficient stiffness model computation for a parallel haptic mechanism via the virtual joint method

Jacobian-based stiffness analysis method for parallel manipulators with non-redundant legs

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