HINGE-BASED PARALLEL MANIPULATOR

Sun Lining  Dong Wei  Du Zhijiang

(Robotics Institute, Harbin Institute of Technology, Harbin 150001)

Abstract: The wide-range flexure hinge-based parallel manipulator system can provide sub-micron scale precision over the cubic centimeter scale workspace. The geometric parameters and spatial architecture of the utilized wide-range flexure hinges will influence the system stiffness directly, and impact indirectly the characteristics such as workspace, supporting capacity, driving burden and so on. The elastic model based on the stiffness equation is presented, and the stiffness model of the whole structure is constructed via the stiffness assembly and coordination equation. Based on this model, the stiffness characteristic is analyzed and the atlases of the stiffness influence are attained, which provide theoretical principles for designing and developing this kind of novel flexure parallel manipulator in further.

Key words: Flexure hinge  Parallel manipulator  Stiffness matrix  Stiffness analysis

CLC No: TP24

国家863高科技资助项目(2002AA422260). Received 20041227, received in revised form 20050413