Title :
Kinematics, workspace and static analyses of 2-DOF flexure parallel mechanism
Author :
Pham, Huy Hoang ; Chen, I-Ming
Author_Institution :
Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore
Abstract :
In this paper, we propose a 2-DOF parallel mechanism with flexure hinges. The kinematics and static analyses of this mechanism are studied in order to determine the kinematics properties, workspace, holding forces of the actuators and the reaction forces at the flexure hinges. These factors are useful for design process of this mechanism. The pseudo-rigid-body model (PRB model) of this mechanism is formulated. The theoretical results are compared with that obtained from ANSYS.
Keywords :
actuators; finite element analysis; manipulator dynamics; manipulator kinematics; micropositioning; ANSYS; actuators; degrees of freedom; finite element analysis; flexure hinges; kinematics analyses; micropositioning; parallel mechanism; pseudo rigid body model; reachability; static analyses; workspace; Actuators; Fasteners; Friction; Kinematics; Machine tools; Mechanical factors; Optical devices; Process design; Production engineering; Semiconductor device manufacture;
Conference_Titel :
Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on
Print_ISBN :
981-04-8364-3
DOI :
10.1109/ICARCV.2002.1238555
