Modelling and analysis of a rigid-compliant parallel mechanism

Yun Qin; Ketao Zhang; Jianmin Li; Jian S. Dai

doi:10.1016/j.rcim.2012.10.004

Modelling and analysis of a rigid-compliant parallel mechanism

Yun Qin, Ketao Zhang, Jianmin Li^*, Jian S. Dai

^*Corresponding author for this work

Tianjin University

Research output: Contribution to journal › Article › peer-review

9 Citations (Scopus)

Abstract

This paper presents a two-staged parallel mechanism composed by a rigid platform in a serial connection with a compliant platform, and concentrates on its configuration and interrelation. The analysis starts with the operator of a 3UPU configuration with a central strut being derived. Configuration and displacement formulas of the compliant platform are demonstrated, leading to the analytic equations of the relationship between the actuated angles of the operator and the position parameters of the end-effector. The numerical evaluation of workspace of the two-staged parallel mechanism is then followed. (C) 2012 Elsevier Ltd. All rights reserved.

Original language	English
Pages (from-to)	33-40
Number of pages	8
Journal	Robotics And Computer-Integrated Manufacturing
Volume	29
Issue number	4
DOIs	https://doi.org/10.1016/j.rcim.2012.10.004
Publication status	Published - Aug 2013

Keywords

Rigid-compliant parallel mechanism
Interrelationship
Cable
Two-staged
MANIPULATOR
KINEMATICS
DESIGN

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10.1016/j.rcim.2012.10.004

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title = "Modelling and analysis of a rigid-compliant parallel mechanism",

abstract = "This paper presents a two-staged parallel mechanism composed by a rigid platform in a serial connection with a compliant platform, and concentrates on its configuration and interrelation. The analysis starts with the operator of a 3UPU configuration with a central strut being derived. Configuration and displacement formulas of the compliant platform are demonstrated, leading to the analytic equations of the relationship between the actuated angles of the operator and the position parameters of the end-effector. The numerical evaluation of workspace of the two-staged parallel mechanism is then followed. (C) 2012 Elsevier Ltd. All rights reserved.",

keywords = "Rigid-compliant parallel mechanism, Interrelationship, Cable, Two-staged, MANIPULATOR, KINEMATICS, DESIGN",

author = "Yun Qin and Ketao Zhang and Jianmin Li and Dai, {Jian S.}",

year = "2013",

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doi = "10.1016/j.rcim.2012.10.004",

language = "English",

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T1 - Modelling and analysis of a rigid-compliant parallel mechanism

AU - Qin, Yun

AU - Zhang, Ketao

AU - Li, Jianmin

AU - Dai, Jian S.

PY - 2013/8

Y1 - 2013/8

N2 - This paper presents a two-staged parallel mechanism composed by a rigid platform in a serial connection with a compliant platform, and concentrates on its configuration and interrelation. The analysis starts with the operator of a 3UPU configuration with a central strut being derived. Configuration and displacement formulas of the compliant platform are demonstrated, leading to the analytic equations of the relationship between the actuated angles of the operator and the position parameters of the end-effector. The numerical evaluation of workspace of the two-staged parallel mechanism is then followed. (C) 2012 Elsevier Ltd. All rights reserved.

AB - This paper presents a two-staged parallel mechanism composed by a rigid platform in a serial connection with a compliant platform, and concentrates on its configuration and interrelation. The analysis starts with the operator of a 3UPU configuration with a central strut being derived. Configuration and displacement formulas of the compliant platform are demonstrated, leading to the analytic equations of the relationship between the actuated angles of the operator and the position parameters of the end-effector. The numerical evaluation of workspace of the two-staged parallel mechanism is then followed. (C) 2012 Elsevier Ltd. All rights reserved.

KW - Rigid-compliant parallel mechanism

KW - Interrelationship

KW - Cable

KW - Two-staged

KW - MANIPULATOR

KW - KINEMATICS

KW - DESIGN

U2 - 10.1016/j.rcim.2012.10.004

DO - 10.1016/j.rcim.2012.10.004

M3 - Article

SN - 0736-5845

VL - 29

SP - 33

EP - 40

JO - Robotics And Computer-Integrated Manufacturing

JF - Robotics And Computer-Integrated Manufacturing

IS - 4

ER -

Modelling and analysis of a rigid-compliant parallel mechanism

Abstract

Keywords

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