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

Bingxiao Ding, Yangmin Li, Yirui Tang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

4 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 languageEnglish
Title of host publicationProceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015
PublisherIEEE
Pages48-53
Number of pages6
ISBN (Electronic)9781467373364
DOIs
Publication statusPublished - 23 Sep 2015
Externally publishedYes
Event7th 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 201517 Jul 2015

Conference

Conference7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and the 7th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2015
Country/TerritoryCambodia
CitySiem Reap
Period15/07/1517/07/15

Keywords

  • 3-RRR planar parallel mechanism
  • CPM
  • PRB
  • SimMechanics
  • Workspace analysis

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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