A constraint and position identification (CPI) approach for the synthesis of decoupled spatial translational compliant parallel manipulators

Design and static testing of a compact distributed-compliance gripper based on flexure motion

“…The two compliant P joints (or compliant R joints) are identical in the compliant gripper. a r c h i v e s o f c i v i l a n d m e c h a n i c a l e n g i n e e r i n g 1 6 ( 2 0 1 6 ) 7 0 8 -7 1 6 Furthermore, based on the position space principle as reported in [19][20][21] all compliant joints can be arranged appropriately to lead to a most compact compliant gripper as shown in Fig. 3.…”

“…The position space of a compliant module is the combination of all permitted positions in a mechanism where the constraint of this compliant module in the mechanism remains unchanged when the position of the compliant module changes relative to its adjacent compliant module rather than being considered in isolation. The position space can be identified using the screw theory [19,20], which is not only useful for gripper design but also for more general compliant mechanism design [20,21].…”

Design of compliant parallel grippers using the position space concept for manipulating sub-millimeter objects

“…The structure of compliant mechanisms is reconfigurable through changing the positions of each compositional compliant module thereof within the position space [13]. The position space of a compliant module is the combination of all permitted positions in a system where the constraint of this compliant module in the system remains unchanged when the position of the compliant module changes relative to its adjacent compliant module rather than being considered in isolation.…”

“…The position space of a compliant module is the combination of all permitted positions in a system where the constraint of this compliant module in the system remains unchanged when the position of the compliant module changes relative to its adjacent compliant module rather than being considered in isolation. The position space can be identified using the screw theory based method as reported in [13].…”

A simple and visually orientated approach for type synthesis of overconstrained 1T2R parallel mechanisms

“…Building upon Grassmann line geometry and the atlas method, Xie and Liu [21] recently presented a graphical approach for type synthesis of 1T2R parallel mechanisms, where the Blanding rules were adopted to convert permitted motions into constraint wrenches and vice versa in a visually understandable manner. Based upon the similar idea, Hopkins et al [22][23][24] proposed a general and systematic approach known as Freedom and Constraint Topology (FACT) for type synthesis of parallel precision flexure systems by creating a visible mapping between freedom and constraint spaces. Other methods such as linear transformations [25], single-open-chain units [26][27] and the G F set [28] have also become available.…”