Open AccessDesign and Analysis of a Series-Parallel Compliant Manipulator
Author(s) -
Jinzhi Zhao,
Chunyi Zhu,
Wei Wang,
ZiMeng Ma,
WenPei Sun
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1971/1/012021
Subject(s) - workspace , kinematics , parallel manipulator , mechanism (biology) , matlab , computer science , series (stratigraphy) , software , manipulator (device) , motion (physics) , motion analysis , machine tool , stewart platform , simulation , control engineering , mechanical engineering , artificial intelligence , engineering , robot , physics , paleontology , classical mechanics , quantum mechanics , biology , programming language , operating system
Because of friction and assembly clearance, the accuracy of traditional rigid parallel mechanism cannot be maintained for a long time. Compliant mechanism has the advantages of light weight, high precision and low wear. Combining the characteristics of the two mechanisms, this paper designs a series-parallel compliant manipulator structure, and studies its forward and backward kinematics. Finally, it uses MATLAB software to study its workspace. Motion analysis was carried out.