| Citation: | MENG G，HUANG H，WU W G，et al. Parasitic rotation of large stroke compliant micro-positioning platform[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（3）：665-673 （in Chinese） doi: 10.13700/j.bh.1001-5965.2021.0272
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Parasitic rotation is inevitable during the movement of large stroke compliant micro-positioning platforms, causing a negative impact on their positioning precision. To reduce this effect, a 3-PPPR compliant micro-positioning platform with large stroke is proposed based on compliant beams. Then, based on linear elastic beam theory, the theoretical parasitic rotational angle of the PPR compliant kinematic joint is modeled considering the axial deformations of the beams. The parasitic rotational angles of the platform are also analyzed theoretically in uniaxial, biaxial and triaxial cases. Furthermore, the theoretical models are verified by finite element analysis. Finally, the sensitivity between the dimension parameters of the compliant beams and the parasitic rotational angle of the platform is analyzed, laying a foundation for the improvement of the platform. On this basis, the optimization schemes are proposed to improve the motion performance of the platform. results show that the maximum relative errors of the theoretical and simulated values of the parasitic rotational angle is 2.46% in three driven cases.
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