Modelling and analysis of a rigid-compliant parallel mechanism

作者：Qin Yun; Zhang Ketao; Li Jianmin^*; Dai Jian S

来源：Robotics and Computer-Integrated Manufacturing, 2013, 29(4): 33-40.

DOI：10.1016/j.rcim.2012.10.004

• Rigid-compliant parallel mechanism
• Interrelationship
• Cable
• Two-staged

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.

• 出版日期2013-8
• 单位天津大学