Abstract
This paper presents the concept design of a novel three degrees of freedom (DOF) redundantly actuated planar compliant parallel mechanism (CPM). The developed CPM is a 4-PPR configuration mechanism based on leaf type flexures and actuated by four voice coil motors (VCMs). The distribute compliance design and the rotation-symmetric configuration guarantees large motion range, translation decouple as well as high structural compactness of the CPM. The stiffness model and kinetostatic model of the CPM are established via the compliance matrix method. Finite element analysis (FEA) is conducted to validate the established models. Numerical results show that the proposed CPM can achieve a workspace of ±2.5 mm × ± 2.5 mm × ± 2.5° in its three working directions. Moreover, the actuation forces of VCMs in the CPM can be decreased significantly by apply the redundantly actuated configuration.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
