Е-Публикации
Технически университет - София

Abstract: This paper presents the design and analysis of 3-Degrees-of-Freedom (3-DOF) tripod elastic parallel mechanism developed as a part of larger surface-shaping mechanical neural network that manipulates multiple of these elastic tripods. While traditional rigid-link parallel manipulators offer advantages in stiffness and precision, they are often limited by inherent issues such as friction, backlash, and wear associated with conventional kinematic joints. This proposed structure addresses these limitations by leveraging the inherent flexibility and controlled deformation of compliant elements, typically realized through flexure hinges, to achieve three degrees of freedom (e.g., one translational and two rotational motions) without the need for discrete joints. The compliant nature of the tripod facilitates monolithic structure, leading to enhanced repeatability and reduced assembly complexity.

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