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Kinematic analysis of translational 3-DOF micro parallel mechanism using matrix method

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4 Author(s)
Koseki, Y. ; Lab. of Mech. Eng., AIST, Ibaraki, Japan ; Tanikawa, T. ; Koyachi, N. ; Arai, T.

We apply the matrix method to kinematic analysis of our translational 3-DOF micro parallel mechanism for an instance of general flexure mechanisms. The matrix method has been well developed in architecture to analyze a frame structure. We found that this method is well applicable to such a flexure mechanism with circular notched hinges as our micro parallel mechanism because it is approximate to the Rahmen structure. Our matrix method can calculate a compliance matrix with less nodes of matrix than conventional finite element method. First, the compliance matrices of a circular notched hinge and some other beams are defined and the coordinate transformations of compliance matrix are introduced. Next, an analysis of our micro parallel mechanism is demonstrated

Published in:

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on  (Volume:1 )

Date of Conference:

2000