3-PRS精密柔性并联平台的运动学设计

Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering Pub Date : 1900-01-01 DOI:10.5220/0008849403410346

Zhiping Kong, Wei Zhang, Haibo Zhou

{"title":"3-PRS精密柔性并联平台的运动学设计","authors":"Zhiping Kong, Wei Zhang, Haibo Zhou","doi":"10.5220/0008849403410346","DOIUrl":null,"url":null,"abstract":": A kinematic design of the 3-PRS compliant parallel platform with wide-range flexure hinges is presented in this paper. The manipulator is driven by the piezoelectric motors, which can show the superiority of parallel platforms and large-stroke flexure hinges. First, taken into account the parasitic motions of the platform, the kinematics solution is proposed. Then, the influence of parameters to the rotation capacity and relative rotation error that are used to assess the quality of the revolute and spherical flexure joints. Also, the reachable travel is observed by ANSYS Workbench. Finally, compare with the FEM and the theoretical results by several different cases to ensure the efficiency of the kinematics model.","PeriodicalId":186406,"journal":{"name":"Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering","volume":"125 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A Kinematic Design of 3-PRS Precision Compliant Parallel Platform\",\"authors\":\"Zhiping Kong, Wei Zhang, Haibo Zhou\",\"doi\":\"10.5220/0008849403410346\",\"DOIUrl\":null,\"url\":null,\"abstract\":\": A kinematic design of the 3-PRS compliant parallel platform with wide-range flexure hinges is presented in this paper. The manipulator is driven by the piezoelectric motors, which can show the superiority of parallel platforms and large-stroke flexure hinges. First, taken into account the parasitic motions of the platform, the kinematics solution is proposed. Then, the influence of parameters to the rotation capacity and relative rotation error that are used to assess the quality of the revolute and spherical flexure joints. Also, the reachable travel is observed by ANSYS Workbench. Finally, compare with the FEM and the theoretical results by several different cases to ensure the efficiency of the kinematics model.\",\"PeriodicalId\":186406,\"journal\":{\"name\":\"Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering\",\"volume\":\"125 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1900-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.5220/0008849403410346\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.5220/0008849403410346","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

提出了一种具有大范围柔性铰链的3-PRS柔性并联平台的运动学设计方法。该机械手由压电电机驱动，可以发挥并联平台和大行程柔性铰链的优势。首先，考虑了平台的寄生运动，提出了运动学解。然后，分析了参数对旋转关节和球面弯曲关节质量评价的旋转能力和相对旋转误差的影响。并利用ANSYS Workbench对可达行程进行了观测。最后，通过几个不同的实例，将有限元计算结果与理论计算结果进行比较，以保证运动学模型的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

A Kinematic Design of 3-PRS Precision Compliant Parallel Platform

: A kinematic design of the 3-PRS compliant parallel platform with wide-range flexure hinges is presented in this paper. The manipulator is driven by the piezoelectric motors, which can show the superiority of parallel platforms and large-stroke flexure hinges. First, taken into account the parasitic motions of the platform, the kinematics solution is proposed. Then, the influence of parameters to the rotation capacity and relative rotation error that are used to assess the quality of the revolute and spherical flexure joints. Also, the reachable travel is observed by ANSYS Workbench. Finally, compare with the FEM and the theoretical results by several different cases to ensure the efficiency of the kinematics model.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering

自引率

0.00%

发文量