Abstract
This paper presents a new type of flexible planar parallel manipulator, which driven by three motors. Compared to the conventional robot, this robot realizes planar degrees of freedom through the elastic rod deformation. Based on this principle, the prototype was designed and produced, and its workspace was analyzed by motion capture experiments. The repeating position accuracy is 0.0771 mm. With high-precision and high-load characteristics, this robot can protect the workpiece when the load exceeds its threshold. It can accomplish difficult tasks for rigid robots, such as inserting shafts into holes or grabbing fragile items, as shown in the demo.
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This work was jointly supported by the Natural Science Foundation of China under Grant 51875334.
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Du, C., Chen, G., Zhang, Z., Tang, L., Wang, H. (2019). Design and Experimental Analysis of a Planar Compliant Parallel Manipulator. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11744. Springer, Cham. https://doi.org/10.1007/978-3-030-27541-9_52
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DOI: https://doi.org/10.1007/978-3-030-27541-9_52
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