Abstract
Parallel flexible mechanisms with joints can better avoid stress concentration and achieve large motion range compared with integrated-structure ones. However, because of the lack of a mathematical model that can describe the stiffness contribution from the joints to the whole mechanism, the mechanism design is difficult and needs to be addressed. This paper proposes a synchronous design method involving stiffness and topology for parallel flexible mechanisms. To introduce and explain this method, this paper deduces two fundamental principles, namely, “Linear Stiffness Superposition Principle (LSSP)” and “Joint Type Determination Principle (JTDP)”, and their deduction processes serve as the cores of the design method. To verify the method's effectiveness, a design process of a Remote Central Compliance (RCC) is presented as an example.
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