Design and analysis of a novel 6-DOF redundant actuated parallel robot with compliant hinges for high precision positioning |
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| Authors: | Yuan Yun Yangmin Li |
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| Institution: | (1) Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, Oshawa, ON, Canada;(2) Robotics and Automation Lab, Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, Oshawa, ON, L1H 7K4, Canada;(3) Institute of Industrial Technologies and Automation, National Research Council, Via Bassini 15, 20133 Milan, Italy |
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| Abstract: | This paper presents the design and modeling of a new 6-DOF 8-PSS/SPS compliant dual redundant parallel robot with wide-range
flexure hinges. This robot can achieve either high accurate positioning or rough positioning as well as a 6-DOF active vibration
isolation and excitation to the payload placed on the moving platform. Adopting a kind of wide-range flexure hinge, we establish
the kinematics model of the macro parallel mechanism system via the stiffness model and Newton–Raphson method, then we build
up the dynamics model using Kane’s method for the micro-motion system. The investigations of this paper will provide suggestions
to improve the structure and control algorithm optimization for a novel compliant dual redundant parallel mechanism in order
to achieve the feature of larger workspace, higher motion precision and better dynamic characteristics. The results will be
helpful in modifying the structure of the prototype platform to enhance its high kinematics and dynamics properties. |
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