KINEMATICS ANALYSIS OF A PARALLEL MANIPULATOR WITH LONG TRAVEL RANGE FLEXURE HINGES BASED ON GEOMETRIC NONLINEAR METHOD

Abstract

Abstract: A novel flexible parallel manipulator is presented. Typical feature of this design is the adoption of long travel range flexible hinges and the centimeter-scale movement of the system. The kinematics of this manipulator is analyzed via the stiffness model of the long travel range flexure hinge. A calculation example of kinematics model is presented based on the Updated Lagrange formulation. Furthermore, corresponding kinematics simulation is executed to validate the kinematics analysis above.

Key words: 6-PSS parallel manipulator, Geometric nonlinearity, Long travel range flexure hinges, Rigid-flexible coupling, Stiffness matrix

CLC Number:

TP24

Sun Lining　Dong Wei　Du Zhijiang. KINEMATICS ANALYSIS OF A PARALLEL MANIPULATOR WITH LONG TRAVEL RANGE FLEXURE HINGES BASED ON GEOMETRIC NONLINEAR METHOD[J]. , 2005, 41(10): 71-74.

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KINEMATICS ANALYSIS OF A PARALLEL MANIPULATOR WITH LONG TRAVEL RANGE FLEXURE HINGES BASED ON GEOMETRIC NONLINEAR METHOD

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