Title :
Kinematics analysis and flexible hinge analysis of 3-PPSR precision parallel manipulator
Author :
Rong, Weibin ; Luan, Yuliang ; Qi, Limin ; Sun, Lining
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
According to the working environment of precise micro-operation parallel robot, the designation and analysis on the kinematics model of 3-PPSR parallel mechanism which was based on flexible hinge was obtained. Simultaneously, the influence of flexible hinge on the position accuracy and stiffness of mechanism was analyzed which may promote the application of control terminal.
Keywords :
elasticity; flexible manipulators; manipulator kinematics; micromanipulators; position control; precision engineering; 3-PPSR parallel mechanism; 3-PPSR precision parallel manipulator; control terminal; flexible hinge analysis; kinematics analysis; kinematics model; position accuracy; precise microoperation parallel robot; stiffness; Accuracy; Bismuth; Fasteners; Joints; Kinematics; Parallel robots; 3-PPSR; flexible hinge; kinematics; modeling; stiffness;
Conference_Titel :
Mechatronics and Automation (ICMA), 2012 International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4673-1275-2
DOI :
10.1109/ICMA.2012.6283235
