Analysis and Design for 3-RPRR Similarly Planar Fully Compliant Parallel Manipulator
A fully compliant parallel manipulator can achieve multi-dimensional motions,but it has obvious limitations in the micro-position fields for the structure and size.A new mechanism which is called 3-RPRR similarly planar fully compliant parallel manipulator is designed.The design of such a new model...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2015-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.11.014 |
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| _version_ | 1850068924264087552 |
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| author | Zhu Dachang Li Yan Zhang Tao |
| author_facet | Zhu Dachang Li Yan Zhang Tao |
| author_sort | Zhu Dachang |
| collection | DOAJ |
| description | A fully compliant parallel manipulator can achieve multi-dimensional motions,but it has obvious limitations in the micro-position fields for the structure and size.A new mechanism which is called 3-RPRR similarly planar fully compliant parallel manipulator is designed.The design of such a new model is based on the configuration and geometric constraints of a 3-RPRR whole compliant manipulator.The model of3-RPRR fully compliant parallel manipulator and 3-RPRR similarly planar fully compliant parallel manipulator are designed firstly.Then,by utilizing the Hyperworks software,the finite element analysis of the two institutions and their chains are carried out,and combining with the principle of virtual work,the static stiffness models of the two mechanisms are deduced.At last,the modal frequency analysis is finished by the same software.The result shows that,the static stiffness,anti-interference performance and vibration resistance of 3-RPRR similarly planar fully compliant parallel manipulator are better than its prototype. |
| format | Article |
| id | doaj-art-7833bc234f44435d84ad6a2cd484d28f |
| institution | DOAJ |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2015-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-7833bc234f44435d84ad6a2cd484d28f2025-08-20T02:47:55ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392015-01-0139636629920094Analysis and Design for 3-RPRR Similarly Planar Fully Compliant Parallel ManipulatorZhu DachangLi YanZhang TaoA fully compliant parallel manipulator can achieve multi-dimensional motions,but it has obvious limitations in the micro-position fields for the structure and size.A new mechanism which is called 3-RPRR similarly planar fully compliant parallel manipulator is designed.The design of such a new model is based on the configuration and geometric constraints of a 3-RPRR whole compliant manipulator.The model of3-RPRR fully compliant parallel manipulator and 3-RPRR similarly planar fully compliant parallel manipulator are designed firstly.Then,by utilizing the Hyperworks software,the finite element analysis of the two institutions and their chains are carried out,and combining with the principle of virtual work,the static stiffness models of the two mechanisms are deduced.At last,the modal frequency analysis is finished by the same software.The result shows that,the static stiffness,anti-interference performance and vibration resistance of 3-RPRR similarly planar fully compliant parallel manipulator are better than its prototype.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.11.014 |
| spellingShingle | Zhu Dachang Li Yan Zhang Tao Analysis and Design for 3-RPRR Similarly Planar Fully Compliant Parallel Manipulator Jixie chuandong |
| title | Analysis and Design for 3-RPRR Similarly Planar Fully Compliant Parallel Manipulator |
| title_full | Analysis and Design for 3-RPRR Similarly Planar Fully Compliant Parallel Manipulator |
| title_fullStr | Analysis and Design for 3-RPRR Similarly Planar Fully Compliant Parallel Manipulator |
| title_full_unstemmed | Analysis and Design for 3-RPRR Similarly Planar Fully Compliant Parallel Manipulator |
| title_short | Analysis and Design for 3-RPRR Similarly Planar Fully Compliant Parallel Manipulator |
| title_sort | analysis and design for 3 rprr similarly planar fully compliant parallel manipulator |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.11.014 |
| work_keys_str_mv | AT zhudachang analysisanddesignfor3rprrsimilarlyplanarfullycompliantparallelmanipulator AT liyan analysisanddesignfor3rprrsimilarlyplanarfullycompliantparallelmanipulator AT zhangtao analysisanddesignfor3rprrsimilarlyplanarfullycompliantparallelmanipulator |