A Novel Spatial 3-DOF Compliant Parallel Mechanism

10.6567/IFToMM.14TH.WC.OS20.019

Hua-Xian Wei；Wei Li；Yu-Fei Liu；Yu-Qiao Wang；Xue-Feng Yang

spatial compliant parallel mechanism ； tripod configuration ； three degree-of-freedom ； static analysis ； finite-element analysis

Proceedings of the 14th IFToMM World Congress

14th-6（2015 / 11 / 11）

141 - 144

英文

A novel spatial three degree-of-freedom compliant parallel mechanism used for micro-manipulation is presented. Compliant parallel tripod configuration is utilized and planar displacement amplifier is comprised within each actuated leg to achieve larger motion stroke and reduce the coupled influence. On the basis of superposition principle, correlations between the input displacements of actuators and the quasi-static motions of the mechanism, which include the out-of-plane output motions (z, θx, θy) and the in-plane motions (x, y) of the mobile platform at the reference point, are formulated. Static analysis is conducted through energy method and point displacements are formulated. A finite-element analysis is given at last as a validation of the proposed model and the performances of the mechanism are in-depth studied. The novel spatial compliant parallel mechanism features miniature structure, good flexibility and fine position accuracy with minimized coupled effect.