Design and Modeling of a Large-Range Modular XYZ Compliant Parallel Manipulator Using Identical Spatial Modules

A design methodology of XYZ compliant parallel manipulators (CPMs) is introduced at first. A spatial double four-beam module and a compliant P (prismatic) joint, composed of two spatial double four-beam modules, are then proposed. Starting from a 3-PPPR (R: revolute) translational parallel manipulator, a large-range modular XYZ CPM with identical spatial modules is constructed using the proposed design approach. Normalized analytical models for the large-range modular XYZ CPM are further presented. As a case study, a modular XYZ CPM with a motion range of 10mm×10mm×10mm is presented in detail, covering the geometrical parameter determination, performance characteristics analysis, buckling check, and actuation force check. The analytical models are compared with the finite element analysis (FEA) models. Finally, the dynamic issues, manufacturability and merits are discussed. It is shown that the proposed large-range modular XYZ CPM has the following main merits compared with existing designs: (1) large range of motion up to 10mm×10mm×10mm, and (2) reduced number of design parameters through the use of identical spatial modules, although the manufacturability is a challenging issue.

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