A Compliant PKM Mesomanipulator: Kinematic and Dynamic Analyses. (13th December 2009)

• Record Type: Journal Article
• Authors: Amici, C.; Borboni, A.; Faglia, R.
• Other Names: Sinatra Rosario Academic Editor.
• Is Part Of: Advances in mechanical engineering. Volume 2010(2010)
• Publication Date: 2009-12-13
• Subjects: Mechanical engineering -- Periodicals; 621.05
• DOI: 10.1155/2010/706023
• Languages: English
• ISSNs: 1687-8132

Abstract

Abstract : The kinematic and dynamic analyses of a PKM mesomanipulator are addressed in this paper: the proposed robot architecture allows only pure translations for the mobile platform, while the presence of flexure hinges introduces compliance into the structure. The analytical solutions to direct and inverse kinematic problems are evaluated after a brief introduction of the basic adopted nomenclature, the manipulator workspace and the robot singularity configurations are then described, and the analytical solution to the inverse dynamic problem is presented. Thereafter, an overview on some of the simulations results obtained through a software implementation of the described algorithms is addressed, and the most salient aspects of this topic are summarized in the final conclusions.