Title :
Kinematic analysis of translational 3-DOF micro parallel mechanism using matrix method
Author :
Koseki, Yoshihiko ; Tanikawa, Tamio ; KOYACHI, Noriho ; Arai, Tatsuo
Author_Institution :
Lab. of Mech. Eng., AIST, Ibaraki, Japan
Abstract :
We apply the matrix method to kinematic analysis of our translational 3-DOF micro parallel mechanism for an instance of general flexure mechanisms. The matrix method has been well developed in architecture to analyze a frame structure. We found that this method is well applicable to such a flexure mechanism with circular notched hinges as our micro parallel mechanism because it is approximate to the Rahmen structure. Our matrix method can calculate a compliance matrix with less nodes of matrix than conventional finite element method. First, the compliance matrices of a circular notched hinge and some other beams are defined and the coordinate transformations of compliance matrix are introduced. Next, an analysis of our micro parallel mechanism is demonstrated
Keywords :
compliance control; flexible manipulators; manipulator kinematics; matrix algebra; 3-DOF micro parallel mechanism; Rahmen structure; compliance matrix; flexure mechanisms; kinematic analysis; Accelerometers; Fasteners; Finite element methods; Friction; Kinematics; Laboratories; Machinery; Manufacturing; Mechanical engineering; Motion analysis;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.894700
