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Stiffness Modeling and Analysis of Passive Four-Bar Parallelogram in Fully Compliant Parallel Positioning Stage

Stiffness Modeling and Analysis of Passive Four-Bar Parallelogram in Fully Compliant Parallel Positioning Stage
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Author(s): X. Jia (Tianjin University, China), Y. Tian (Tianjin University, China), D. Zhang (Tianjin University, China) and J. Liu (Hebei University of Technology, China)
Copyright: 2011
Volume: 1
Issue: 1
Pages: 18
Source title: International Journal of Intelligent Mechatronics and Robotics (IJIMR)
Editor(s)-in-Chief: Zuobin Wang (Changchun University of Science and Technology, China)
DOI: 10.4018/ijimr.2011010104

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Abstract

In order to investigate the influence of the stiffness of the compliant prismatic pair, a planar four-bar parallelogram, in a fully compliant parallel mechanism, the stiffness model of the passive compliant prismatic pair in a compliant parallel positioning stage is established using the compliant matrix method and matrix transformation. The influences of the constraints and the compliance of the connecting rods on the flexibility characteristics of the prismatic pair are studied based on the developed model. The relative geometric parameters are changed to show the rules of the stiffness variation and to obtain the demands for simplification in the stiffness modeling of the prismatic pair. Furthermore, the finite element analysis has been conducted to validate the analytical model.

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