空间平动柔性并联机构的系统设计方法研究

It has been experiencing a rapid increase in the research on the design of spatial translational compliant parallel mechanisms, due to their various applications such as micro/nano-manipulation, energy harvesting and advanced sensors. A position-space-based design (PSBD) approach to the design of spatial translational compliant parallel mechanisms is proposed paper. The PSBD approach is mainly employed to systematically design basic, i.e., three-legged without redundant legs, spatial translational compliant parallel mechanisms. Spatial translational compliant parallel mechanisms and their general design requirements are described, and then the PSBD approach is proposed. In order to show the relevant techniques of the PSBD approach, a spatial translational compliant parallel mechanism is designed using the PSBD approach, as a design example. It can be seen that not only experts but also beginners can design a great number of decoupled spatial translational compliant parallel mechanisms with actuation isolation and small parasitic motion.