{"title":"A Kinematic Design of 3-PRS Precision Compliant Parallel Platform","authors":"Zhiping Kong, Wei Zhang, Haibo Zhou","doi":"10.5220/0008849403410346","DOIUrl":null,"url":null,"abstract":": A kinematic design of the 3-PRS compliant parallel platform with wide-range flexure hinges is presented in this paper. The manipulator is driven by the piezoelectric motors, which can show the superiority of parallel platforms and large-stroke flexure hinges. First, taken into account the parasitic motions of the platform, the kinematics solution is proposed. Then, the influence of parameters to the rotation capacity and relative rotation error that are used to assess the quality of the revolute and spherical flexure joints. Also, the reachable travel is observed by ANSYS Workbench. Finally, compare with the FEM and the theoretical results by several different cases to ensure the efficiency of the kinematics model.","PeriodicalId":186406,"journal":{"name":"Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering","volume":"125 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.5220/0008849403410346","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
: A kinematic design of the 3-PRS compliant parallel platform with wide-range flexure hinges is presented in this paper. The manipulator is driven by the piezoelectric motors, which can show the superiority of parallel platforms and large-stroke flexure hinges. First, taken into account the parasitic motions of the platform, the kinematics solution is proposed. Then, the influence of parameters to the rotation capacity and relative rotation error that are used to assess the quality of the revolute and spherical flexure joints. Also, the reachable travel is observed by ANSYS Workbench. Finally, compare with the FEM and the theoretical results by several different cases to ensure the efficiency of the kinematics model.
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