Download or read book Screw Theory Based Stiffness Analysis of Compliant Parallel Mechanisms written by Chen Qiu and published by . This book was released on 2016 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Firstly, the synthesis design problems of compliant parallel mechanisms are explored at both the conceptual-design level and dimensional-design level. At the conceptual-design level where mainly degrees of freedom and constraints are considered, screw theory is implemented to generate the arrangement of constraint flexible elements as well as actuators for given motions of a compliant parallel mechanism. At the dimensional-design level where the stiffness of compliant parallel mechanisms are considered, algorithms are developed that are able to decompose the pre-determined stiffness matrix of a compliant parallel mechanism into a combination of flexible elements, thus achieving complete synthesis without knowing the original layout of the compliant parallel mechanism. Then the optimization design of compliant parallel mechanisms is investigated following the stiffness synthesis. Ortho-planar springs are selected as examples, and their six-dimensional compliance performances are evaluated in forms of compliance matrices and optimized by conducting parameterization and optimization analysis of the design parameters. Finally this thesis investigates the large deformation problem of compliant parallel mechanisms using origami-inspired compliant mechanisms. Experimental tests are conducted to explore the stiffness behaviours of crease-type flexures, based on which a novel repelling-screw based analytical approach is proposed to analyze the force transmission of compliant origami structures undertaking large deformations. This also leads to the developments of a series of bio-inspired continuum robots and manipulators.