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Modeling and Experimental Validation of a Compliant Underactuated Parallel Kinematic Manipulator

Ma, Nan; Dong, Xin; Axinte, Dragos


Nan Ma

Professor of Manufacturing Engineering


© 1996-2012 IEEE. Parallel kinematic manipulators (PKMs) are increasingly used in a wide range of industrial applications due to the characteristics of high accuracy and compact structure. However, most of the existing PKMs are structured with heavy actuators and high stiffness. In this respect, this article proses a simple, yet effective, parallel manipulator that distinguishes itself through the following basis. First, underactuation: it employs only a single motor and a driving cable to actuate its three legs. Second, novel foot location: it uses a smart shape memory alloy clutch-based driving system (SCBDS), which catches/releases the driving cable, thus, making possible the robot underactuation. Finally, adjustable compliance: its double compliant joints on each limb with a stiffness-adjustable section, which renders a safe human-robotic interaction. To support and predict the performance of this underactuated compliant manipulator, a novel kinetostatic model was developed by considering the generalized internal loads (i.e., force and moment) in three compliant limbs and the external loads on the upper platform. Finally, based on the physical prototype, a set of experiments were conducted to validate the model proposed in this article. It was found that the proposed kinetostatic model can be validated with the average deviations of 1.8% in position and 2.8% in orientation, respectively. Furthermore, the workspace of the system (e.g., discrete and continuous workspace) was studied when different actuating strategies were employed, thus, emphasizing the advantages and the limitations of this novel system.


Ma, N., Dong, X., & Axinte, D. (2020). Modeling and Experimental Validation of a Compliant Underactuated Parallel Kinematic Manipulator. IEEE/ASME Transactions on Mechatronics, 25(3), 1409-1421.

Journal Article Type Article
Acceptance Date Feb 15, 2020
Online Publication Date Feb 24, 2020
Publication Date Jun 1, 2020
Deposit Date Feb 26, 2020
Publicly Available Date Feb 26, 2020
Journal IEEE/ASME Transactions on Mechatronics
Print ISSN 1083-4435
Electronic ISSN 1941-014X
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Volume 25
Issue 3
Pages 1409-1421
Keywords Control and Systems Engineering; Electrical and Electronic Engineering; Computer Science Applications
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Additional Information © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works


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