Kinetostatic Modeling and Experimental Research on a Large-Range Compliant Parallel Mechanism
Compliant parallel mechanisms are widely used in the micro-/nano-positioning stages because of the advantages such as no friction,no wear,no backlash,monolithic manufacturing,and minimal assembly.A kinetostatic modeling method based on the compliance matrix method is proposed for a large-range planar compliant parallel mechanism.By applying the method,a kinetostatic model of a 3-Prismatic-Prismatic-Revolute compliant parallel mechanism is established.In order to verify the model,an experimental setup based on laser interferometers is established.The actuation forces,the displacements of the active prismatic joints and end-effector are acquired by the NI data acquisition system.Finally,the experimental results verify the feasi-bility of the experimental procedure and the correctness of the developed model.
Large RangeCompliant Parallel MechanismKinetostaticLabVIEWInterferometer
NETL
NSTL
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