A novel XY compliant parallel manipulator (CPM) and a spatial double three-beam module both with distributed compliance are first proposed for large range of translation. Then, an improved XY CPM is proposed by combining the above XY CPM and a spatial double three-beam module in parallel. The normalized analytical models are further presented for the novel XY CPM, double three-beam module and improved XY CPM. It is shown that the improved XY CPM has the following merits: (1) large range of motion, constrained parasitic error motion, output-decoupling, maximal actuation isolation and minimal lost motion; and (2) large out-of-plane stiffness and no friction with base. The improved XY CPM may also be used as a building block to construct new spatial CPMs.
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ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 15–18, 2010
Montreal, Quebec, Canada
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4410-6
PROCEEDINGS PAPER
Novel XY Compliant Parallel Manipulators for Large Displacement Translation With Enhanced Stiffness
Guangbo Hao,
Guangbo Hao
Heriot-Watt University, Edinburgh, UK
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Xianwen Kong
Xianwen Kong
Heriot-Watt University, Edinburgh, UK
Search for other works by this author on:
Guangbo Hao
Heriot-Watt University, Edinburgh, UK
Xianwen Kong
Heriot-Watt University, Edinburgh, UK
Paper No:
DETC2010-28141, pp. 1037-1047; 11 pages
Published Online:
March 8, 2011
Citation
Hao, G, & Kong, X. "Novel XY Compliant Parallel Manipulators for Large Displacement Translation With Enhanced Stiffness." Proceedings of the ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B. Montreal, Quebec, Canada. August 15–18, 2010. pp. 1037-1047. ASME. https://doi.org/10.1115/DETC2010-28141
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