A compliant parallel mechanism with flexure-based joint chains for two translations

2012 ◽  
Vol 13 (9) ◽  
pp. 1625-1632 ◽  
Author(s):  
Kee-Bong Choi ◽  
Jae Jong Lee ◽  
Gee Hong Kim ◽  
Hyung Jun Lim
Keyword(s):  
Parallel Mechanism ◽  
Compliant Parallel Mechanism

Experimental Validation of the Kinematics of a 3PRS Compliant Mechanism for Micromilling

2015 ◽  
Author(s):  
Antonio Ruiz ◽  
Francisco Campa Gomez ◽  
Constantino Roldan-Paraponiaris ◽  
Oscar Altuzarra
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Experimental Validation ◽  
Compliant Mechanism ◽  
Motion Controller ◽  
End Effector ◽  
Compliant Joints ◽  
Hybrid Manipulator ◽  
Compliant Parallel Mechanism ◽  
Actuated Joints

The present work deals with the development of a hybrid manipulator of 5 degrees of freedom for milling moulds for microlenses. The manipulator is based on a XY stage under a 3PRS compliant parallel mechanism. The mechanism takes advantage of the compliant joints to achieve higher repetitiveness, smoother motion and a higher bandwidth, due to the high precision demanded from the process, under 0.1 micrometers. This work is focused on the kinematics of the compliant stage of the hybrid manipulator. First, an analysis of the workspace required for the milling of a single mould has been performed, calculating the displacements required in X, Y, Z axis as well as two relative rotations between the tool and the workpiece from a programmed toolpath. Then, the 3PRS compliant parallel mechanism has been designed using FEM with the objective of being stiff enough to support the cutting forces from the micromilling, but flexible enough in the revolution and spherical compliant joints to provide the displacements needed. Finally, a prototype of the 3PRS compliant mechanism has been built, implementing a motion controller to perform translations in Z direction and two rotations. The resulting displacements in the end effector and the actuated joints have been measured and compared with the FEM calculations and with the rigid body kinematics of the 3PRS.

scholarly journals A Compliant-Parallel Mechanism with Bio-Inspired Compliant Joints for High Precision Assembly Robot

Procedia CIRP ◽  
2013 ◽  
Vol 5 ◽  
pp. 175-178 ◽  
Author(s):  
Hiroaki Kozuka ◽  
Jumpei Arata ◽  
Kenji Okuda ◽  
Akinori Onaga ◽  
Motoshi Ohno ◽  
...  
Keyword(s):  
High Precision ◽  
Parallel Mechanism ◽  
Compliant Joints ◽  
Compliant Parallel Mechanism

Optimization Design of a 2-DOF Compliant Parallel Mechanism Using NSGA-II Algorithm for Vibration-Assisted Milling

2020 ◽  
pp. 529-539
Author(s):  
Huy-Tuan Pham ◽  
Van-Khien Nguyen ◽  
Khac-Huy Nguyen ◽  
Quang-Khoa Dang ◽  
Trung-Kien Hoang ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Optimization Design ◽  
Nsga Ii ◽  
Compliant Parallel Mechanism

A Quasi-Static Model for Planar Compliant Parallel Mechanisms

2009 ◽  
Vol 1 (2) ◽  
Author(s):  
Cyril Quennouelle ◽  
Clément Gosselin
Keyword(s):  
Parallel Mechanism ◽  
Applied Load ◽  
Jacobian Matrix ◽  
Static Model ◽  
Parallel Mechanisms ◽  
Compliance Matrix ◽  
End Effector ◽  
Kinematic Constraints ◽  
Compliant Parallel Mechanism ◽  
External Loads

In this paper, the mobility, the kinematic constraints, the pose of the end-effector, and the static constraints that lead to the kinematostatic model of a compliant parallel mechanism are introduced. A formulation is then provided for its instantaneous variation—the quasi-static model. This new model allows the calculation of the variation in the pose as a linear function of the motion of the actuators and the variation in the external loads through two new matrices: the compliant Jacobian matrix and the Cartesian compliance matrix that give a simple and meaningful formulation of the model of the mechanism. Finally, a simple application to a planar four-bar mechanism is presented to illustrate the use of this model and the new possibilities that it opens, notably the study of the kinematics for any range of applied load.

scholarly journals A New XYZ Compliant Parallel Mechanism for Micro-/Nano-Manipulation: Design and Analysis

Micromachines ◽  
2016 ◽  
Vol 7 (2) ◽  
pp. 23 ◽  
Author(s):  
Haiyang Li ◽  
Guangbo Hao ◽  
Richard Kavanagh
Keyword(s):  
Parallel Mechanism ◽  
Compliant Parallel Mechanism

scholarly journals Synthesis method of two translational compliant mechanisms with redundant actuation

2021 ◽  
Vol 12 (2) ◽  
pp. 983-995
Author(s):  
Shihua Li ◽  
Yajie Zhou ◽  
Yanxia Shan ◽  
Shuang Chen ◽  
Jinhan Han
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Compliant Mechanisms ◽  
Synthesis Method ◽  
Synthesis Process ◽  
Parallel Mechanisms ◽  
Synthesis Conditions ◽  
Compliant Parallel Mechanism ◽  
Atlas Method ◽  
Driving Stability

Abstract. In the fields of electronic packaging, micromanipulation, scanning, and two translational (2T) mechanisms are required, especially with high stiffness, for a large workspace, with good driving stability, and other occasions. Redundant actuators are required to improve the performance of the 2T compliant parallel mechanism. The novelty of the work is to propose a new method for the type synthesis of a 2T redundant actuated compliant parallel mechanism based on the freedom and constraint topology (FACT) approach and the atlas approach. The synthesis conditions are given, and the synthesis process is formulated. With this method, new 2T redundant actuated compliant parallel mechanisms are synthesized. Some new mechanisms have been synthesized, which enriches the compliant parallel mechanism configurations. Based on the atlas method, the synthesized mechanism is analyzed. The results verify the correctness and effective of the synthesis method. The method is also suitable for a type of synthesis of redundant actuated compliant parallel mechanisms with 3, 4, 5, and 6 degrees of freedom (DOF), respectively.

The design and kinetostatic modeling of 3PPR planar compliant parallel mechanism based on compliance matrix method

2019 ◽  
Vol 90 (4) ◽  
pp. 045102 ◽  
Author(s):  
Hongtao Yu ◽  
Chi Zhang ◽  
Bao Yang ◽  
Si-Lu Chen ◽  
Zaojun Fang ◽  
...  
Keyword(s):  
Matrix Method ◽  
Parallel Mechanism ◽  
Compliance Matrix ◽  
Compliant Parallel Mechanism ◽  
Compliance Matrix Method

Compliant Mechanism Reconfiguration Based on Position Space Concept for Reducing Parasitic Motion

2015 ◽  
Author(s):  
Haiyang Li ◽  
Guangbo Hao
Keyword(s):  
Finite Element Analysis ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Compliant Mechanism ◽  
Position Space ◽  
Element Analysis ◽  
Compact Structure ◽  
Parasitic Motion ◽  
Compliant Parallel Mechanism ◽  
Space Concept

This paper introduces a compliant mechanism reconfiguration approach that can be used to minimize the parasitic motions of a compliant mechanism. This reconfiguration approach is based on the position spaces, identified by the screw theory, of independent compliant modules in a compliant mechanism system. The parasitic motions (rotations) of a compliant mechanism are first modelled associated with the variables representing any positions of the compliant modules in the position spaces. The optimal positions of the compliant modules are then obtained where the parasitic motions are reduced to minimal values. A procedure of the compliant mechanism reconfiguration approach is summarized and demonstrated using a decoupled XYZ compliant parallel mechanism as an example. The analytical results show that the parasitic motions of the XYZ compliant parallel mechanism in the example can be dramatically reduced by the position/structure reconfiguration, which is also validated by finite element analysis. The position space of a compliant module contains a number of possible positions, thus a compliant mechanism can also be efficiently reconfigured to a variety of practical patterns such as the configuration with compact structure.

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