{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:24:06Z","timestamp":1754155446840,"version":"3.41.2"},"reference-count":20,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2017,10,16]],"date-time":"2017-10-16T00:00:00Z","timestamp":1508112000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2017,10,16]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>Manipulator motion accuracy is a fundamental requirement for precision manufacturing equipment. Light weight manipulators in high speed motions are vulnerable to deformations. The purpose of this work is to analyze the effect of link deformation on the motion precision of parallel manipulators.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The flexible dynamics model of the links is first established by applying the Euler\u2013Bernoulli beam theory and the assumed modal method. The rigid-flexible coupling equations of the parallel mechanism are further derived by using the Lagrange multiplier approach. The elastic energy resulting from spiral motion and link deformations are computed and analyzed. Motion errors of the 3-link torque-prismatic-torque parallel manipulator are then evaluated based on its inverse kinematics. The validation experiments are also conducted to verify the numerical results.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The lateral deformation and axial deformation are largest at the middle of the driven links. The axial deformation at the middle of the driven link is approximately one-tenth of the transversal deformation. However, the elastic potential energy of the transversal deformation is much smaller than the elastic force generated from axial deformation.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>Knowledge on the relationship between link deformation and motion precision is useful in the design of parallel manipulators for high performing dynamic responses.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This work establishes the relationship between motion precision and the amount of link deformation in parallel manipulators.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-12-2016-0368","type":"journal-article","created":{"date-parts":[[2017,8,17]],"date-time":"2017-08-17T19:10:03Z","timestamp":1502997003000},"page":"776-787","source":"Crossref","is-referenced-by-count":8,"title":["Effect of links deformation on motion precision of parallel manipulator based on flexible dynamics"],"prefix":"10.1108","volume":"44","author":[{"given":"Chunxia","family":"Zhu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jay","family":"Katupitiya","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jing","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"issue":"9","key":"key2020120509523907300_ref001","doi-asserted-by":"crossref","first-page":"1627","DOI":"10.1016\/j.mechmachtheory.2009.01.009","article-title":"Trajectory planning for residual vibration suppression of a two-link rigid-flexible manipulator considering large deformation","volume":"44","year":"2009","journal-title":"Mechanism and Machine Theory"},{"issue":"3\/4","key":"key2020120509523907300_ref002","first-page":"957","article-title":"Nonlinear dynamic behaviors of clamped 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