a screw theory basis for quantitative and graphical design tools that define layout of actuators to minimize parasitic errors in parallel flexure systems：用于定量和图形化的设计工具的螺旋理论基础，定义布局的致动器，以减少寄生误差在平行弯曲系统.pdfVIP

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a screw theory basis for quantitative and graphical design tools that define layout of actuators to minimize parasitic errors in parallel flexure systems：用于定量和图形化的设计工具的螺旋理论基础，定义布局的致动器，以减少寄生误差在平行弯曲系统.pdf

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a screw theory basis for quantitative and graphical design tools that define layout of actuators to minimize parasitic errors in parallel flexure systems：用于定量和图形化的设计工具的螺旋理论基础，定义布局的致动器，以减少寄生误差在平行弯曲系统

Precision Engineering 34 (2010) 767–776 Contents lists available at ScienceDirect Precision Engineering j o u rn al h omepage: w w w. elsev /locate/precision A screw theory basis for quantitative and graphical design tools that deﬁne layout of actuators to minimize parasitic errors in parallel ﬂexure systems Jonathan B. Hopkins, Martin L. Culpepper ∗ MIT Department of Mechanical Engineering, Room 35-209, 77 Massachusetts Avenue, Cambridge, MA 02139, USA a r t i c l e i n f o a b s t r a c t Article history: In this paper we introduce a visual approach for placing actuators within multi-axis parallel ﬂexure Received 2 November 2009 systems such that position and orientation errors are minimized. A stiffness matrix, which links twists Received in revised form 21 April 2010 and wrenches, is used to generate geometric shapes that guide designers in selecting optimal actuator Accepted 18 May 2010 locations and orientations. The geometric shapes, called actuation spaces, enable designers to (i) visualize Available online 26 May 2010 the regions wherein actuators should be placed so as to minimize errors, (ii) guide designers in selecting these actuators to maximize the decoupling of actuator inputs, and (iii) determine actuator forces and Keywords: displacements for actuating speciﬁc degrees of freedom. These new principles, the means to practice Flexure systems Complian