Design and analysis of a novel 6-DOF redundant actuated parallel robot with compliant hinges for high precision positioning

• Published in: Nonlinear dynamics Vol. 61; no. 4; pp. 829 - 845
• Main Authors: Yun, Yuan, Li, Yangmin
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.09.2010; Springer Nature B.V
• Subjects: Algorithms; Automotive Engineering; Classical Mechanics; Control; Control algorithms; Control theory; Design engineering; Dynamic characteristics; Dynamical Systems; Dynamics; Engineering; Flexing; Hinges; Kinematics; Mechanical Engineering; Motion systems; Optimization; Original Paper; Parallel degrees of freedom; Platforms; Redundancy; Redundant; Robots; Stiffness; Vibration; Vibration analysis; Vibration control; Flexure hinges; Kane’s method; Stiffness equation; Parallel manipulator
• ISSN: 0924-090X; 1573-269X
• DOI: 10.1007/s11071-010-9690-x

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.