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dc.contributor.authorRuiz, Antonio
dc.contributor.authorCampa Gómez, Francisco Javier ORCID
dc.contributor.authorRoldán Paraponiaris, Constantino Gregorio
dc.contributor.authorAltuzarra Maestre, Oscar ORCID
dc.contributor.authorPinto Cámara, Charles Richard ORCID
dc.identifier.citationMechatronics 39 : 77-88 (2016)es_ES
dc.description.abstractIn this paper, a procedure for the kinematic design of a 3-PRS compliant parallel manipulator of 3 degrees of freedom is proposed. First, under the assumption of small displacements, the solid body kinematics of the 3-PRS has been studied, performing a comprehensive analysis of the inverse and forward kinematic problem, and calculating the rotations that the revolute and spherical flexure joints must perform. Then, after defining some design requirements and therefore the necessary displacements to fulfill, a design process based on the finite element calculations has been stablished, giving the necessary guidelines to reach the optimal solution on a 3-PRS compliant mechanism. Also, a prototype has been tested, using a coordinate measuring machine to verify its dimensions and the resulting displacements in the end effector and the actuated joints. Finally, those measurements have been compared with the FEM and the rigid body kinematics predictions, contrasting the validity of those two modelling approaches for the kinematic design of compliant mechanisms.es_ES
dc.description.sponsorshipThe authors of this paper wish to acknowledge the financial support received from the Spanish Government via the Ministerio de Educación y Ciencia (Project DPI2011-22955) and Ministerio de Economía y Competitividad (Project DPI2015-64450-R), the ERDF of the European Union, the Government of the Basque Country (Project GIC07/78, IT445-10 and SAIOTEK 2013 SAI13/245, SPC13UN011), and the University of the Basque Country (Project EHUA13/30 and Zabalduz-2012). Thanks are also addressed to Dr. Jorge Presa and Alfonso Urzainki from Egile Corporation XXI for their valuable contributions.es_ES
dc.subjectparallel kinematicses_ES
dc.subjectcompliant mechanismses_ES
dc.subjectflexure joints designes_ES
dc.titleExperimental Validation of the Kinematic Design of 3PRS Compliant Parallel Mechanismses_ES
dc.rights.holder(c)2016 Elsevieres_ES
dc.departamentoesIngeniería mecánicaes_ES
dc.departamentoeuIngeniaritza mekanikoaes_ES

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(c)2016 Elsevier
Except where otherwise noted, this item's license is described as (c)2016 Elsevier