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Design and DOF Analysis of a Novel Compliant Parallel Mechanism for Large Load

1
Key Laboratory of Electronic Equipment Structure Design, Ministry of Education of China, Xidian University, Xi’an 710071, China
2
College of Information Science and Technology, Shihezi University, North 4th Road, Shihezi 832003, China
*
Author to whom correspondence should be addressed.
Sensors 2019, 19(4), 828; https://doi.org/10.3390/s19040828
Received: 20 December 2018 / Revised: 9 February 2019 / Accepted: 13 February 2019 / Published: 17 February 2019
(This article belongs to the Special Issue Sensors for MEMS and Microsystems)
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Abstract

The degree of freedom (DOF) and motion characteristics of a kind of compliant spherical joint were analyzed based on the screw theory, and a new design scheme for force-inversion of the compliant spherical joint was proposed in this paper. A novel type of six DOF compliant parallel mechanism (CPM) was designed based on this scheme to provide a large load capacity and achieve micrometer-level positioning accuracy. The compliance matrix of the new type of CPM was obtained through matrix transformation and was then decomposed into its generalized eigenvalues. Then, the DOF of the mechanism was numerically analyzed based on the symbolic formulation. The finite element analysis model of the compliant parallel mechanism was established. The static load analysis was used to verify the large load capacity of the mobile platform. By comparing the deformation obtained by the compliance matrix numerical method with the deformation obtained by the finite element method, the correctness of the compliance matrix and the number of the DOF of the CPM was verified. View Full-Text
Keywords: compliant mechanism; flexural joint; screw theory; symbolic formulation compliant mechanism; flexural joint; screw theory; symbolic formulation
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Wu, X.; Lu, Y.; Duan, X.; Zhang, D.; Deng, W. Design and DOF Analysis of a Novel Compliant Parallel Mechanism for Large Load. Sensors 2019, 19, 828.

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