Workspace analysis for a 3-DOF compliant parallel mechanism based on SimMechanics

Bingxiao Ding; Yangmin Li; Yirui Tang

doi:10.1109/ICCIS.2015.7274595

Workspace analysis for a 3-DOF compliant parallel mechanism based on SimMechanics

Bingxiao Ding, Yangmin Li, Yirui Tang

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

5 Citations (Scopus)

Abstract

This paper presents workspace analysis for a three-degree of freedom(3-DOF) compliant parallel mecha-nism(CPM) using SimMechanics software based on PZT's output forces. In order to meet the requirements of precision mechanism for application, it is necessary to evaluate the workspace performance of the designed stage, taking the fabrication tolerance and modeling inaccuracies of flexure joints into consideration. The work on obtaining the workspace of a manipulator was done in past using the geometrical approach, screw theory, and other methods. Unlike the above aforementioned methods, using SimMechanics to get the workspace is much easier. In this paper, the stage is modeled with elasto-slide element and then the PZT force and displacement behaviour are obtained, based on the pseudo-rigid-body (PRB) method, the model of CPM is established, and a complete analysis of a planar 3-RRR parallel flexure based manipulator is made.

Original language	English
Title of host publication	Proceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015
Publisher	IEEE
Pages	48-53
Number of pages	6
ISBN (Electronic)	9781467373364
DOIs	https://doi.org/10.1109/ICCIS.2015.7274595
Publication status	Published - 23 Sept 2015
Externally published	Yes
Event	7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and the 7th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2015 - Angkor Wat, Siem Reap, Cambodia Duration: 15 Jul 2015 → 17 Jul 2015

Conference

Conference	7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and the 7th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2015
Country/Territory	Cambodia
City	Siem Reap
Period	15/07/15 → 17/07/15

Keywords

3-RRR planar parallel mechanism
CPM
PRB
SimMechanics
Workspace analysis

ASJC Scopus subject areas

Artificial Intelligence
Control and Systems Engineering

More information

10.1109/ICCIS.2015.7274595

Cite this

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title = "Workspace analysis for a 3-DOF compliant parallel mechanism based on SimMechanics",

abstract = "This paper presents workspace analysis for a three-degree of freedom(3-DOF) compliant parallel mecha-nism(CPM) using SimMechanics software based on PZT's output forces. In order to meet the requirements of precision mechanism for application, it is necessary to evaluate the workspace performance of the designed stage, taking the fabrication tolerance and modeling inaccuracies of flexure joints into consideration. The work on obtaining the workspace of a manipulator was done in past using the geometrical approach, screw theory, and other methods. Unlike the above aforementioned methods, using SimMechanics to get the workspace is much easier. In this paper, the stage is modeled with elasto-slide element and then the PZT force and displacement behaviour are obtained, based on the pseudo-rigid-body (PRB) method, the model of CPM is established, and a complete analysis of a planar 3-RRR parallel flexure based manipulator is made.",

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author = "Bingxiao Ding and Yangmin Li and Yirui Tang",

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doi = "10.1109/ICCIS.2015.7274595",

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booktitle = "Proceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015",

publisher = "IEEE",

address = "United States",

note = "7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and the 7th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2015 ; Conference date: 15-07-2015 Through 17-07-2015",

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Ding, B, Li, Y & Tang, Y 2015, Workspace analysis for a 3-DOF compliant parallel mechanism based on SimMechanics. in Proceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015., 7274595, IEEE, pp. 48-53, 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and the 7th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2015, Siem Reap, Cambodia, 15/07/15. https://doi.org/10.1109/ICCIS.2015.7274595

Workspace analysis for a 3-DOF compliant parallel mechanism based on SimMechanics. / Ding, Bingxiao; Li, Yangmin; Tang, Yirui.
Proceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015. IEEE, 2015. p. 48-53 7274595.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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N2 - This paper presents workspace analysis for a three-degree of freedom(3-DOF) compliant parallel mecha-nism(CPM) using SimMechanics software based on PZT's output forces. In order to meet the requirements of precision mechanism for application, it is necessary to evaluate the workspace performance of the designed stage, taking the fabrication tolerance and modeling inaccuracies of flexure joints into consideration. The work on obtaining the workspace of a manipulator was done in past using the geometrical approach, screw theory, and other methods. Unlike the above aforementioned methods, using SimMechanics to get the workspace is much easier. In this paper, the stage is modeled with elasto-slide element and then the PZT force and displacement behaviour are obtained, based on the pseudo-rigid-body (PRB) method, the model of CPM is established, and a complete analysis of a planar 3-RRR parallel flexure based manipulator is made.

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Workspace analysis for a 3-DOF compliant parallel mechanism based on SimMechanics

Abstract

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Keywords

ASJC Scopus subject areas

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