Improved Development Cycle of a Compliant Manipulator

2003 ◽  
Author(s):  
Stephen L. Canfield ◽  
Patrick V. Hull ◽  
James W. Beard
Keyword(s):  
Design Process ◽  
Design Methodology ◽  
Low Cost ◽  
Parallel Architecture ◽  
Degree Of Freedom ◽  
Modeling Tools ◽  
Multiple Features ◽  
Positioning Accuracy ◽  
Development Cycle ◽  
Three Degree Of Freedom

Application of the compliant design methodology to manipulators has held the promise of delivering manipulators with many significant advantages, including low cost, small size, low backlash and friction, and high positioning accuracy. This approach has been demonstrated in part by Canfield et. al., [1] to a class of three-degree-of-freedom manipulators based on a specific parallel architecture topology. In [1], the authors’ intent was to develop two compliant manipulators that exhibit several of the features associated with compliant devices. However, upon review of the manipulators resulting from this work it is observed that many of the benefits that were expected were lost at some point in the design process, resulting in manipulators that were large, expensive and suffered significantly from required assembly and inaccuracies in manufacture. This paper will revisit the problem addressed in [1], using the modeling tools demonstrated in that paper but will present several improved development measures that will result in manipulators that exhibit multiple features promised by compliant devices. The resulting manipulators will then be compared against the manipulators from [1] with a summary of the performance and characteristics of each given and evaluated.

Design of a Teaching Robot with Three Degrees of Freedom

2012 ◽  
Vol 619 ◽  
pp. 325-328
Author(s):  
You Jun Huang ◽  
Ze Lun Li ◽  
Zhi Cheng Huang
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Degree Of Freedom ◽  
Good Repeatability ◽  
Main Components ◽  
Opening And Closing ◽  
Three Degree Of Freedom ◽  
Three Degrees Of Freedom ◽  
Application Prospects

A teaching robot with three degree of freedom is designed. The three degrees of freedom are: waist rotation, lifting and stretching of the arm and opening and closing of the gripper. The designs of the main components are: a mobile chassis, parallel rails, horizontal rails and manipulator. The teaching robot designed has the features of low cost, easy to regulation, good repeatability and it has good promotion and application prospects in the field of teaching.

scholarly journals Development of a Compact Three-Degree-of-Freedom Laser Measurement System with Self-Wavelength Correction for Displacement Feedback of a Nanopositioning Stage

2018 ◽  
Vol 8 (11) ◽  
pp. 2209 ◽  
Author(s):  
Yindi Cai ◽  
Zhifeng Lou ◽  
Siying Ling ◽  
Bo-syun Liao ◽  
Kuang-chao Fan
Keyword(s):  
Laser Diode ◽  
Low Cost ◽  
Michelson Interferometer ◽  
Optical Path Difference ◽  
Path Difference ◽  
Degree Of Freedom ◽  
Laser Source ◽  
Laser Measurement ◽  
Length Unit ◽  
Three Degree Of Freedom

This paper presents a miniature three-degree-of-freedom laser measurement (3DOFLM) system for displacement feedback and error compensation of a nanopositioning stage. The 3DOFLM system is composed of a miniature Michelson interferometer (MMI) kit, a wavelength corrector kit, and a miniature autocollimator kit. A low-cost laser diode is employed as the laser source. The motion of the stage can cause an optical path difference in the MMI kit so as to produce interference fringes. The interference signals with a phase interval of 90° due to the phase control are detected by four photodetectors. The wavelength corrector kit, based on the grating diffraction principle and the autocollimation principle, provides real-time correction of the laser diode wavelength, which is the length unit of the MMI kit. The miniature autocollimator kit based on the autocollimation principle is employed to measure angular errors and compensate induced Abbe error of the moving table. The developed 3DOFLM system was constructed with dimensions of 80 mm (x) × 90 mm (y) × 20 mm (z) so that it could be embedded into the nanopositioning stage. A series of calibration and comparison experiments were carried out to test the performance of this system.

Control System Design for AC-DC Three-Degree-of-Freedom Hybrid Magnetic Bearing

2012 ◽  
Vol 150 ◽  
pp. 144-147 ◽  
Author(s):  
Wei Yu Zhang ◽  
Ying Ruan ◽  
Xiao Yan Diao ◽  
Huang Qiu Zhu
Keyword(s):  
Control System ◽  
System Design ◽  
High Speed ◽  
Manufacturing Industry ◽  
Block Diagram ◽  
Low Cost ◽  
Magnetic Bearing ◽  
Degree Of Freedom ◽  
Control System Design ◽  
Three Degree Of Freedom

To fulfil the objective of high speed, high precision and intelligence in the modern equipment and advanced manufacturing industry, the magnetic bearing is requested to have small volume, low cost and low consumption. In this paper, an AC-DC three-degree-of-freedom hybrid magnetic bearing (AC-DC-3DOF-HMB) is studied, which integrates radial bearing and axial bearing in one of the magnetic bearing. The configuration and principle of AC-DC-3DOF-HMB are expounded, and the mathematical models of suspension forces are given. Then based on the function block diagram of AC-DC-3DOF-HMB control system, its hardware and software configuration are designed. The experiment results show that the rotor can be suspended stably with three degrees of freedom and has a good performance in anti- interference, and the feasibility of the control system design can be verified.

Floor Vibration Control Using Three-Degree-of-Freedom Tuned Mass Dampers

2004 ◽  
Author(s):  
Khalid I. Al-Hulwah ◽  
Reza Kashani
Keyword(s):  
Building Materials ◽  
Low Cost ◽  
Heavy Traffic ◽  
High Strength ◽  
Degree Of Freedom ◽  
Tuned Mass Dampers ◽  
Floor Vibration ◽  
Normal Human ◽  
High Level ◽  
Three Degree Of Freedom

The use of high-strength material in buildings has resulted in the use of less building materials and, consequently, a high level of flexibility in buildings, making them vibration prone. For example, high-strength concrete has lowered the thickness of concrete slabs used in the floors of steel/concrete buildings, such as office buildings and shopping centers, resulting in excessive floor vibration stemming from heavy traffic and normal human activity. Although not dangerous, such vibration is highly annoying to the occupants of the building. The authors have been working on the use of three-degree-of-freedom (3-DOF) tuned mass dampers (TMD) to abate floor vibration. Such TMDs can provide improved effectiveness over a traditional one-degree-of-freedom TMD and yet possess all of the attractive features of a traditional TMD; namely, simplicity and low cost. As in a 1-DOF TMD, this device will be installed on a concrete floor slab, at an optimally designed/chosen location.

Kinematics of a Three Degree-Of-Freedom Motion Platform for a Low-Cost Driving Simulator

1996 ◽  
pp. 89-98 ◽  
Author(s):  
Po-Hua Yang ◽  
Kenneth J. Waldron ◽  
David E. Orin
Keyword(s):  
Driving Simulator ◽  
Low Cost ◽  
Degree Of Freedom ◽  
Motion Platform ◽  
Three Degree Of Freedom

Development of Parallel Architecture Spatial Compliant Manipulators

2001 ◽  
Author(s):  
S. L. Canfield ◽  
J. W. Beard ◽  
R. D. Parsons ◽  
N. Lobontiu ◽  
M. Paine ◽  
...  
Keyword(s):  
Low Cost ◽  
Parallel Architecture ◽  
Parallel Manipulators ◽  
Structure Design ◽  
Degree Of Freedom ◽  
Small Scale ◽  
Compliant Structure ◽  
Compliant Joints ◽  
Kinematic Models ◽  
And Control

Abstract This paper will present the development of two spatial compliant manipulators suitable for fabrication at a miniature or micro level and positioning on a micro or nano scale. These compliant manipulators are based on a parallel architecture that provides rotational motion about two axes and translations in one to three directions. These compliant devices form the first in a class of such compliant manipulators that combine the characteristics of parallel manipulators with the low cost, small-scale capabilities resulting from a compliant structure design. These manipulators will be developed as lumped-compliance devices, having architectures with relatively rigid links and compliant joints designed to render nearly equivalent kinematic motion. Appropriate kinematic models are developed for design and control. The work is then demonstrated through development of a 3 degree-of-freedom miniature compliant manipulator (MCM) and a five degree-of-freedom (dof) compliant manipulator for micro-pointing applications.

A Three Degree-of-Freedom Model for Self-Retracting Fully Compliant Bistable Micromechanisms

2005 ◽  
Vol 127 (4) ◽  
pp. 739-744 ◽  
Author(s):  
Nathan D. Masters ◽  
Larry L. Howell
Keyword(s):  
Rigid Body ◽  
Design Process ◽  
Compressive Loading ◽  
Fatigue Tests ◽  
Critical Force ◽  
Degree Of Freedom ◽  
Small Displacement ◽  
New Class ◽  
Rigid Body Model ◽  
Three Degree Of Freedom

A three degree-of-freedom (3DOF) pseudo-rigid-body model (PRBM) has been developed and used in the design of a new class of self-retracting fully compliant bistable micromechanism (SRFBM). The SRFBM provides small-displacement linear travel bistability and is suitable for low-power microswitching applications. The design process involved a combination of single and multiple degree-of-freedom PRBM and finite element models to quickly proceed from a concept rigid-body mechanism to fully compliant fabrication-ready geometry. The 3DOF model presented here was developed to more accurately model the behavior of the tensural pivots—a new class of compliant segment used to avoid combined compressive loading of flexible segments. Four SRFBM designs were fabricated and tested for bistability, on-chip actuation, critical force, and fatigue tests. These tests validate the models used in the design process and demonstrate the functionality and reliability of the SRFBM.

A Parallel, Four Degree-of-Freedom Robotic Wrist

1995 ◽  
Author(s):  
Robert J. Salerno ◽  
Stephen L. Canfield ◽  
Anthony J. Ganino ◽  
Charles F. Reinholtz
Keyword(s):  
Inverse Kinematics ◽  
Parallel Architecture ◽  
High Strength ◽  
Degree Of Freedom ◽  
Real Time Control ◽  
Time Control ◽  
Robot Wrist ◽  
Forward And Inverse Kinematics ◽  
Three Degree Of Freedom ◽  
Robotic Wrist

Abstract Kinematic considerations are presented for a parallel, four degree-of-freedom robot wrist resembling the Clemens coupling, a constant-velocity joint first described in his 1872 patent. In its new form as a wrist, this device provides general orientational mobility as well as axial displacement through a plunge motion. A possibly more important hybrid of this wrist is identified as an artificially constrained, spherical, three degree-of-freedom pitchyaw-roll wrist that can easily be derived from this new concept. Because of its parallel architecture, the new wrist design displays favorable attributes including high strength-to-weight and stiffness-to-weight ratios, a large workspace, and an open center construction. Closed-form forward and inverse kinematics of the wrist are derived for both the three and four degree-of-freedom configurations, thereby making it a likely candidate for real-time control. Workspace plots are also presented that demonstrate the dexterity of the proposed wrist.

Development and performance of a three degree of freedom large motion vibration isolation mount for the KC-135 aircraft

1993 ◽  
Author(s):  
B. TRYGGVASON ◽  
B. STEWART ◽  
S. SALCUDEAN ◽  
H. DAVIS ◽  
E. SLOOT
Keyword(s):  
Vibration Isolation ◽  
Degree Of Freedom ◽  
Large Motion ◽  
And Performance ◽  
Three Degree Of Freedom
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