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Structure design and kinematic performance of the deployable translational parallel tape-spring manipulator

Published online by Cambridge University Press:  22 March 2024

Hu Liu Open the ORCID record for Hu Liu [Opens in a new window] ,
Yawen Qin  and
Yi Yang
Hu Liu
Affiliation:
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
Yawen Qin
Affiliation:
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
Yi Yang*
Affiliation:
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
*
Corresponding author: Yi Yang; E-mail: [email protected].
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Abstract

A deployable manipulator has the characteristics of a small installation space and a large workspace, which has great application prospects in small unmanned platforms. Most existing deployable manipulators are designed based on rigid links, whose complexity and mass inevitably increase sharply with increasing numbers of rigid links and joints. Inspired by the remarkable properties of tape springs, this paper proposes novel deployable parallel tape-spring manipulators with low mass, simple mechanics, and a high deployed-to-folded ratio. First, a double C-shaped tape spring is presented to improve the stability of the structure. The combined fixed drive component (CFDC) and combined mobile drive component (CMDC) are designed. Then, novel 2-DOF and 3-DOF deployable translational parallel manipulators are proposed based on the CFDC and CMDC, and their degrees-of-freedom (DOFs), kinematics, and stability are analyzed. The coiled tape spring is regarded as an Archimedean spiral, which can significantly improve the accuracy of kinematic analysis. The correction coefficient of the Euler formula is obtained by comparison with simulation results and experimental results. Furthermore, the stability spaces of the 2-DOF and 3-DOF deployable parallel manipulators are given. Finally, a prototype is fabricated, and experiments are conducted to validate the proposed design and analysis.

Keywords

deployable parallel manipulatorkinematicsstabilitytape spring
Type
Research Article
Information
Robotica , Volume 42 , Issue 5 , May 2024 , pp. 1523 - 1548
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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