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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...
Autores principales: | , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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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. |
format | Online Article Text |
id | pubmed-9317572 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
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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