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Kinematic modeling of a spatial three degrees-of-freedom compliant micro-motion parallel mechanism considering input coupling effect and bilateral restrained torsion

Zhicheng Song, Xiang Li, Xiaolong Yang, Yao Li, Linkang Wang, Hongtao Wu

Industrial Robot

ISSN: 0143-991X

Article publication date: 9 November 2022

Issue publication date: 13 April 2023

226

Abstract

Purpose

This paper aims to improve the kinematic modeling accuracy of a spatial three-degrees-of-freedom compliant micro-motion parallel mechanism by proposing a modified modeling method based on the structural matrix method (SMM).

Design/methodology/approach

This paper analyzes the problem that the torsional compliance equation of the circular notched hinge is no longer applicable because it is subject to bilateral restrained torsion. The torsional compliance equation is modified by introducing the relative length coefficient. The input coupling effect, which is often neglected, is considered in kinematic modeling. The symbolic expression of the input coupling matrix is obtained. Theory, simulation and experimentation are presented to show the validity of the proposed kinematic model.

Findings

The results show that the proposed kinematics model can improve the modeling accuracy by comparing the theoretical, finite element method (FEM) and experimental method.

Originality/value

This work provides a feasible scheme for CMPM kinematics modeling. It can be better applied to the optimization design based on the kinematic model in the future.

Keywords

Acknowledgements

This work is supported by the National Natural Science Foundation of China (Grant nos. 51975277, 52105023), the Natural Science Foundation of Jiangsu Province (Grant no. BK20210341) and the Fundamental Research Funds for the Central Universities (Grant no. 309201A8801).

Citation

Song, Z., Li, X., Yang, X., Li, Y., Wang, L. and Wu, H. (2023), "Kinematic modeling of a spatial three degrees-of-freedom compliant micro-motion parallel mechanism considering input coupling effect and bilateral restrained torsion", Industrial Robot, Vol. 50 No. 3, pp. 385-400. https://doi.org/10.1108/IR-06-2022-0146

Publisher

:

Emerald Publishing Limited

Copyright © 2022, Emerald Publishing Limited

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