SUN F W, YUAN Z T, CHEN G Q.Kinematics analysis and driving stroke optimization of 3-PRS compliant parallel mechanism[J].Journal of Henan Polytechnic University(Natural Science) ,2023,42(2):87-97.

doi:10.16186/j.cnki.1673-9787.2021060093

Received:2021/06/25

Revised:2021/10/26

Published:2023/03/25

Kinematics analysis and driving stroke optimization of 3-PRS compliant parallel mechanism

SUN Fuwei, YUAN Zetian, CHEN Guoqiang

School of Mechanical and Power Engineering，Henan Polytechnic University，Jiaozuo 454000，Henan，China

Abstract:In order to simplify the kinematics calculation process of the 3-PRS compliant parallel mechanism and improve the result accuracy，the equivalent rigid replacement method was proposed.The driving stroke fitted with the platform position and orientation by regression.The kinematics analysis and driving stroke optimization of the compliant parallel mechanism were achieved.First，the rigid joint positions and orientations were obtained by the inverse kinematics of 3-PRS parallel mechanism.Then，the finite element model of the 3-PRS compliant parallel mechanism was established.The rotation of compliant joints was calculated and the results were compared with the equivalent rigid mechanism.Finally，the relationship between the driving stroke and the moving platform position and orientation was fitted by the multiple nonlinear regression method and the driving stroke suitable for the compliant mechanism was obtained.The optimized model accuracy was verified by finite element analysis.The results showed that the platform position and orientation obtained by finite element simulation was closer to the preset values，which provided a necessary theoretical basis for the kinematic analysis and driving stroke optimization of the 3-PRS compliant parallel mechanism.

Key words:parallel mechanism;flexure joint;kinematics;parameter optimization

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