Abstract
Abstract
Kinematic and dynamic modelling of a three-degrees-of-freedom (3DOF) planar parallel manipulator is presented in this paper. An equilateral triangle forms the output stage of the mechanism, and three driving structures, connected via three links, provide stroke magnification to the output stage. Aiming at achieving micromotions, this manipulator is developed using compliant material. In order to reduce assembly errors, a monolithic structure is adopted in this design. Hence, the joints in this mechanism are all flexural hinges. Since the masses and moments of inertia can be neglected in this lightweight micromanipulator, and the joint resistances are greatly increased owing to the flexure of the joints, new problems arise in the design and modelling of such a mechanism. The results presented in this paper will provide useful information for the design and applications of parallel, compliant micromanipulators.
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