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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: Long
travel range flexure hinges 6-PSS parallel manipulator Rigid-flexible
coupling Stiffness matrix Geometric nonlinearity
CLC No: TP24
国家863高科技资助项目(2002AA422260).
Received 20040911, received in revised form 20051222
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