A polymer-made 3DOF spatial parallel manipulator for cell production system

Abstract

In the present paper, in order to realize the functions equivalent to the functions of the spherical bearing which is frequently used in conventional spatial mechanisms, a polymeric manufactured hinge with Hytrel® (DUPONT Co., Ltd.)[1], which has excellent flexural fatigue resistance, have been proposed. Next, the shape and dimensions of the polymeric manufactured hinge having low stress values at bending deformation have been found by FEM analysis results. In addition, a polymer-made three-degrees-of-freedom(3DOF) spatial parallel manipulator which consists of this polymer-made hinge is designed and developed, and the output displacement characteristics of the manipulator are revealed.