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Analysis of Compliance and Kinetostatic of a Novel Class of n-4R Compliant Parallel Micro Pointing Mechanism

A novel class of n-4R compliant parallel pointing mechanisms is proposed, and the compliance and kinetostatic model of the mechanism are established and analyzed successively. Firstly, the compliance model of a class of n-4R compliant parallel pointing mechanism is established based on the coordinat...

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Detalles Bibliográficos
Autores principales: Ren, Jun, Li, Qiliang
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9317572/
https://www.ncbi.nlm.nih.gov/pubmed/35888831
http://dx.doi.org/10.3390/mi13071014
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author Ren, Jun
Li, Qiliang
author_facet Ren, Jun
Li, Qiliang
author_sort Ren, Jun
collection PubMed
description A novel class of n-4R compliant parallel pointing mechanisms is proposed, and the compliance and kinetostatic model of the mechanism are established and analyzed successively. Firstly, the compliance model of a class of n-4R compliant parallel pointing mechanism is established based on the coordinate transformation. The model is verified by finite element analysis, and the influence of geometric parameter variations on the compliance performance of the mechanism is analyzed. Secondly, the mechanism is simplified to an equivalent spring system, and the governing equation of the equivalent spring system is constructed by utilizing the established compliance model. According to the governing equation, the mapping relationship between the input force and the output displacement of the mechanism is subsequently obtained, that is, the kinetostatic model. Then, the accuracy of the kinetostatic model is verified by two simulation examples: The spiral trajectory of the mobile platform center and the spatial pointing trajectory of the mechanism. The results of the two examples show that the deviations between the analytical results and the FE-results are within 0.038% and 0.857%, with the excellent consistency indicating the accuracy of the kinetostatic model. Finally, the influence of the geometric parameter values on the mapping matrix in the kinetostatic model is studied.
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spelling pubmed-93175722022-07-27 Analysis of Compliance and Kinetostatic of a Novel Class of n-4R Compliant Parallel Micro Pointing Mechanism Ren, Jun Li, Qiliang Micromachines (Basel) Article A novel class of n-4R compliant parallel pointing mechanisms is proposed, and the compliance and kinetostatic model of the mechanism are established and analyzed successively. Firstly, the compliance model of a class of n-4R compliant parallel pointing mechanism is established based on the coordinate transformation. The model is verified by finite element analysis, and the influence of geometric parameter variations on the compliance performance of the mechanism is analyzed. Secondly, the mechanism is simplified to an equivalent spring system, and the governing equation of the equivalent spring system is constructed by utilizing the established compliance model. According to the governing equation, the mapping relationship between the input force and the output displacement of the mechanism is subsequently obtained, that is, the kinetostatic model. Then, the accuracy of the kinetostatic model is verified by two simulation examples: The spiral trajectory of the mobile platform center and the spatial pointing trajectory of the mechanism. The results of the two examples show that the deviations between the analytical results and the FE-results are within 0.038% and 0.857%, with the excellent consistency indicating the accuracy of the kinetostatic model. Finally, the influence of the geometric parameter values on the mapping matrix in the kinetostatic model is studied. MDPI 2022-06-27 /pmc/articles/PMC9317572/ /pubmed/35888831 http://dx.doi.org/10.3390/mi13071014 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Ren, Jun
Li, Qiliang
Analysis of Compliance and Kinetostatic of a Novel Class of n-4R Compliant Parallel Micro Pointing Mechanism
title Analysis of Compliance and Kinetostatic of a Novel Class of n-4R Compliant Parallel Micro Pointing Mechanism
title_full Analysis of Compliance and Kinetostatic of a Novel Class of n-4R Compliant Parallel Micro Pointing Mechanism
title_fullStr Analysis of Compliance and Kinetostatic of a Novel Class of n-4R Compliant Parallel Micro Pointing Mechanism
title_full_unstemmed Analysis of Compliance and Kinetostatic of a Novel Class of n-4R Compliant Parallel Micro Pointing Mechanism
title_short Analysis of Compliance and Kinetostatic of a Novel Class of n-4R Compliant Parallel Micro Pointing Mechanism
title_sort analysis of compliance and kinetostatic of a novel class of n-4r compliant parallel micro pointing mechanism
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9317572/
https://www.ncbi.nlm.nih.gov/pubmed/35888831
http://dx.doi.org/10.3390/mi13071014
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