Design of Parallel Kinematic XY Flexure Mechanisms

2005 ◽  
Author(s):  
Shorya Awtar ◽  
Alexander H. Slocum
Keyword(s):  
Performance Measures ◽  
Significant Error ◽  
Nonlinear Analyses ◽  
Element Analysis ◽  
Flexure Mechanism ◽  
Nonlinear Force ◽  
Parallel Kinematic ◽  
Improved Performance ◽  
Design Tradeoffs ◽  
Force Displacement

This paper presents parallel kinematic XY mechanism designs that are based on a systematic constraint pattern. The constraint pattern, realized by means of double parallelogram flexure modules, is such that it allows large ranges of motion without over-constraining the mechanism or generating significant error motions. Nonlinear force-displacement characteristics of the double parallelogram flexure are used in analytically predicting the performance measures of the proposed XY mechanisms. Comparisons between closed-form linear and nonlinear analyses are presented to highlight the inadequacy of the former. Fundamental design tradeoffs in flexure mechanism performance are discussed qualitatively and quantitatively. It is shown that geometric symmetry in the constraint arrangement relaxes some of the design tradeoffs, resulting in improved performance. The nonlinear analytical predictions are validated by means of Finite Element Analysis and experimental measurements.

Constraint-Based Design of Parallel Kinematic XY Flexure Mechanisms

2006 ◽  
Vol 129 (8) ◽  
pp. 816-830 ◽  
Author(s):  
Shorya Awtar ◽  
Alexander H. Slocum
Keyword(s):  
Performance Characteristics ◽  
Element Analysis ◽  
Nonlinear Load ◽  
Flexure Mechanism ◽  
Nonlinear Force ◽  
Parallel Kinematic ◽  
Improved Performance ◽  
Design Tradeoffs ◽  
Cross Axis ◽  
Force Displacement

This paper presents parallel kinematic XY flexure mechanism designs based on systematic constraint patterns that allow large ranges of motion without causing over-constraint or significant error motions. Key performance characteristics of XY mechanisms such as mobility, cross-axis coupling, parasitic errors, actuator isolation, drive stiffness, lost motion, and geometric sensitivity, are discussed. The standard double parallelogram flexure module is used as a constraint building-block and its nonlinear force-displacement characteristics are employed in analytically predicting the performance characteristics of two proposed XY flexure mechanism designs. Fundamental performance tradeoffs, including those resulting from the nonlinear load-stiffening and elastokinematic effects, in flexure mechanisms are highlighted. Comparisons between closed-form linear and nonlinear analyses are presented to emphasize the inadequacy of the former. It is shown that geometric symmetry in the constraint arrangement relaxes some of the design tradeoffs, resulting in improved performance. The nonlinear analytical predictions are validated by means of computational finite element analysis and experimental measurements.

An XYZ Parallel Kinematic Flexure Mechanism With Geometrically Decoupled Degrees of Freedom

2011 ◽  
Author(s):  
Shorya Awtar ◽  
John Ustick ◽  
Shiladitya Sen
Keyword(s):  
Degrees Of Freedom ◽  
Element Analysis ◽  
Motion Direction ◽  
Form Analysis ◽  
Flexure Mechanism ◽  
Non Linear ◽  
Decoupled Motion ◽  
Motion Range ◽  
Parallel Kinematic ◽  
Cross Axis

We present the constraint-based design of a novel parallel kinematic flexure mechanism that provides highly decoupled motions along the three translational directions (X, Y, and Z) and high stiffness along the three rotational directions (θx, θy, and θz). The geometric decoupling ensures large motion range along each translational direction and enables integration with large-stroke ground-mounted linear actuators or generators, depending on the application. The proposed design, which is based on a systematic arrangement of multiple rigid stages and parallelogram flexure modules, is analyzed via non-linear finite element analysis. A proof-of-concept prototype of the flexure mechanism is fabricated to validate its large range and decoupled motion capability. The analyses as well as the hardware demonstrate an XYZ motion range of 10 mm × 10 mm × 10 mm. Over this motion range, the non-linear FEA predicts a cross-axis error of less than 3%, parasitic rotations less than 2 mrad, less than 4% lost motion, actuator isolation less than 1.5%, and no perceptible motion direction stiffness variation. Ongoing work includes non-linear closed-form analysis and experimental measurement of these error motion and stiffness characteristics.

Characteristics of Beam-Based Flexure Modules

2006 ◽  
Vol 129 (6) ◽  
pp. 625-639 ◽  
Author(s):  
Shorya Awtar ◽  
Alexander H. Slocum ◽  
Edip Sevincer
Keyword(s):  
Finite Element Analysis ◽  
Analytical Framework ◽  
Equilibrium Conditions ◽  
Element Analysis ◽  
Flexure Mechanism ◽  
Important Constraint ◽  
Motion Range ◽  
Stiffness Variation ◽  
Force Displacement ◽  
Force Equilibrium

The beam flexure is an important constraint element in flexure mechanism design. Nonlinearities arising from the force equilibrium conditions in a beam significantly affect its properties as a constraint element. Consequently, beam-based flexure mechanisms suffer from performance tradeoffs in terms of motion range, accuracy and stiffness, while benefiting from elastic averaging. This paper presents simple yet accurate approximations that capture the effects of load-stiffening and elastokinematic nonlinearities in beams. A general analytical framework is developed that enables a designer to parametrically predict the performance characteristics such as mobility, over-constraint, stiffness variation, and error motions, of beam-based flexure mechanisms without resorting to tedious numerical or computational methods. To illustrate their effectiveness, these approximations and analysis approach are used in deriving the force–displacement relationships of several important beam-based flexure constraint modules, and the results are validated using finite element analysis. Effects of variations in shape and geometry are also analytically quantified.

Design and analysis of an X–Y parallel nanopositioner supporting large-stroke servomechanism

2014 ◽  
Vol 229 (2) ◽  
pp. 364-376 ◽  
Author(s):  
Pengbo Liu ◽  
Peng Yan ◽  
Zhen Zhang
Keyword(s):  
Natural Frequency ◽  
High Performance ◽  
Transfer Functions ◽  
Mechanical Design ◽  
Input Output ◽  
Element Analysis ◽  
Flexure Mechanism ◽  
High Bandwidth ◽  
Parallel Kinematic ◽  
Large Work

In this paper, we consider the design and analysis of an X–Y parallel piezoelectric-actuator-driven nanopositioner with a novel two-stage amplifying mechanism, where the mechanical design is optimized to achieve a large stroke and high-natural frequency for the purpose of high-performance servomechanism. The parallel kinematic X–Y flexure mechanism provides good geometric decoupling. The kinematic and dynamic analysis shows that the proposed design has a large work space and high bandwidth, which is further verified by finite-element analysis. The analysis results demonstrate that the designed nanopositioner has a large workspace more than 200 µm and a high-natural frequency at about 760 Hz. Furthermore, the dynamical model of the nanopositioner, including the dynamics of the PZT actuators, is also generated from the perspective of input/output transfer functions, and the parameters are identified by frequency-response experiments, which can be used for nano precision servomechanism.

An XYZ Parallel-Kinematic Flexure Mechanism With Geometrically Decoupled Degrees of Freedom

2012 ◽  
Vol 5 (1) ◽  
Author(s):  
Shorya Awtar ◽  
John Ustick ◽  
Shiladitya Sen
Keyword(s):  
Degrees Of Freedom ◽  
Finite Elements Analysis ◽  
Motion Direction ◽  
Flexure Mechanism ◽  
Nonlinear Finite Elements ◽  
Decoupled Motion ◽  
Motion Range ◽  
Stiffness Variation ◽  
Parallel Kinematic ◽  
Cross Axis

A novel parallel-kinematic flexure mechanism that provides highly decoupled motions along the three translational directions (X, Y, and Z) and high stiffness along the three rotational directions (θx, θy, and θz) is presented. Geometric decoupling ensures large motion range along each translational direction and enables integration with large-stroke ground-mounted linear actuators or generators, depending on the application. The proposed design, which is based on a systematic arrangement of multiple rigid stages and parallelogram flexure modules, is analyzed via nonlinear finite elements analysis (FEA). A proof-of-concept prototype is fabricated to validate the predicted large range and decoupled motion capabilities. The analysis and the hardware prototype demonstrate an XYZ motion range of 10 mm × 10 mm × 10 mm. Over this motion range, the nonlinear FEA predicts cross-axis errors of less than 7.8%, parasitic rotations less than 10.8 mrad, less than 14.4% lost motion, actuator isolation better than 1.5%, and no perceptible motion direction stiffness variation.

scholarly journals Rapid Evaluation for Position-Dependent Dynamics of a 3-DOF PKM Module

2014 ◽  
Vol 6 ◽  
pp. 238928 ◽  
Author(s):  
Hai-wei Luo ◽  
Hui Wang ◽  
Jun Zhang ◽  
Qi Li
Keyword(s):  
Natural Frequencies ◽  
Mode Shapes ◽  
Parallel Kinematic Machine ◽  
Computationally Efficient ◽  
Element Analysis ◽  
Reduction Techniques ◽  
Modal Reduction ◽  
Governing Differential Equation ◽  
Parallel Kinematic ◽  
Analytical System

Based on the substructure synthesis and modal reduction technique, a computationally efficient elastodynamic model for a fully flexible 3-RPS parallel kinematic machine (PKM) tool is proposed, in which the frequency response function (FRF) at the end of the tool can be obtained at any given position throughout its workspace. In the proposed elastodynamic model, the whole system is divided into a moving platform subsystem and three identical RPS limb subsystems, in which all joint compliances are included. The spherical joint and the revolute joint are treated as lumped virtual springs with equal stiffness; the platform is treated as a rigid body and the RPS limbs are modelled with modal reduction techniques. With the compatibility conditions at interfaces between the limbs and the platform, an analytical system governing differential equation is derived. Based on the derived model, the position-dependent dynamic characteristics such as natural frequencies, mode shapes, and FRFs of the 3-RPS PKM are simulated. The simulation results indicate that the distributions of natural frequencies throughout the workspace are strongly dependant on mechanism's configurations and demonstrate an axial-symmetric tendency. The following finite element analysis and modal tests both validate the analytical results of natural frequencies, mode shapes, and the FRFs.

scholarly journals Alternative shoe closure designs alter biomechanical performance during agility-based movements

2020 ◽  
Author(s):  
Moira Pryhoda ◽  
Rachel Wathen ◽  
Jay Dicharry ◽  
Kevin Shelburne ◽  
Bradley Davidson
Keyword(s):  
Mechanical Properties ◽  
Performance Measures ◽  
Performance Measure ◽  
Male Athletes ◽  
Impaired Performance ◽  
Performance Improvements ◽  
Two Measures ◽  
Ground Contact Time ◽  
Improved Performance ◽  
Consistent Performance

The objective of this research was to determine if three alternative shoe upper closures improve biomechanical performance measures relative to a standard lace closure in court-based movements. NCAA Division 1 and club-level male athletes recruited from lacrosse, soccer, tennis, and rugby performed four court-based movements: Lateral Skater Jump repeats (LSJ), Countermovement Jump repeats (CMJ), Triangle Drop Step drill (TDS), and Anterior-Posterior drill (AP). Each athlete performed the movements in four shoe upper closures: Standard Closure, Lace Replacement, Y Wrap, and Tri Strap. Ground contact time, peak eccentric rate of force development (RFD), peak concentric GRF, peak concentric COM power, eccentric work, concentric work, and movement completion time were measured. Tri Strap saw improvements in four of seven biomechanical variables during CMJ and LSJ and one variable during TDS. Lace Replacement delivered improvements in one performance measure during CMJ, LSJ, and AP, and two variables in TDS. Y Wrap improved performance in three performance measures during LSJ and impaired performance in two measures during CMJ and three measures during AP. Tri Strap provided the most consistent performance improvements across all movements. This study allowed for the mechanical properties of the shoe lower to remain consistent across designs to examine if an alternative shoe upper closure could enhance performance. Our results indicate that increased proprioception and/or mechanical properties due to the alternative closures, especially Tri Strap, improves athlete performance, which concludes that the design of the shoe upper is an essential consideration in shoe design.

Technological advances in high-efficiency particulate collection

1997 ◽  
Vol 211 (1) ◽  
pp. 53-65 ◽  
Author(s):  
K R Parker
Keyword(s):  
High Efficiency ◽  
Electrostatic Precipitator ◽  
Cost Effective ◽  
Vapour Phase ◽  
Air Toxics ◽  
Bag Filter ◽  
Element Analysis ◽  
Ongoing Research ◽  
Technological Advances ◽  
Improved Performance

Particulate control equipment for the larger industrial processes, which can effectively collect particles in the submicrometre range, is limited to the electrostatic precipitator and bag filter as cost effective methods. To meet ever decreasing emission levels, demanded by the Regulatory Agencies, the equipment suppliers and academics are involved in ongoing research and development activities in order to obtain a better understanding of the collection process itself, such as to achieve improved performance and, equally importantly, plant reliability and availability. This paper reviews some of the activities in the electrical, microelectronics, material sciences, fluid flow and finite element analysis fields and indicates how the findings are leading to new designs that are more reliable and also how the improvements are making the equipment more cost effective while operating at a higher performance level. Finally, with the concern over the emission of ‘air toxics’, while both the electrostatic precipitator and bag filter are established technology for effectively removing solid and liquid particulates with sizings well below 1 micrometre there is now an additional requirement for collecting vapour phase materials to meet the latest regulatory emission levels. Some ideas and approaches are examined which can prove effective in collecting the majority of materials classified as ‘air toxics’, such that the equipment will meet the existing and possible future emission standards.

Analysis of a Nonlinear Dynamic Vibration Absorber

1953 ◽  
Vol 20 (4) ◽  
pp. 515-518
Author(s):  
L. A. Pipes
Keyword(s):  
Forced Oscillations ◽  
Vibration Absorber ◽  
Dynamic Vibration Absorber ◽  
Nonlinear Characteristics ◽  
Disturbing Force ◽  
Main Mass ◽  
Dynamic Vibration ◽  
Nonlinear Force ◽  
Linear Spring ◽  
Force Displacement

Abstract This paper presents a mathematical analysis of the action of a dynamic vibration absorber. The system analyzed consists of a main mass attached to a rigid foundation by a linear spring coupled to the absorber mass by a spring of nonlinear characteristics. The forced oscillations of the system produced by a harmonic disturbing force acting on the main mass are studied analytically. It is assumed that the coupling absorber spring has nonlinear force-displacement characteristics of the hyperbolic sine type. Expressions for the amplitudes of the vibrations of the two masses as functions of the frequency of the disturbing force are obtained.

CONSTRAINT-BASED ANALYSIS OF PARALLEL KINEMATIC ARTICULATED WRIST MECHANISM

2021 ◽  
pp. 1-11
Author(s):  
Revanth Damerla ◽  
Shorya Awtar
Keyword(s):  
Degrees Of Freedom ◽  
Systematic Analysis ◽  
Load Bearing ◽  
Load Transmission ◽  
Pure Rotation ◽  
Parallel Kinematic ◽  
Design Tradeoffs ◽  
Transmission Capability

Abstract This paper presents a systematic constraint-based analysis of the performance attributes of eight parallel kinematic articulated wrist mechanisms from the existing literature. These performance attributes include the number, nature (i.e. pure rotation, or translation, or a combination), and location of a mechanism's Degrees of Freedom (DoFs) in the nominal and displaced configurations, load transmission capability along these DoFs, and load bearing capability along the constraint directions. This systematic analysis reveals performance tradeoffs between these performance attributes for a given mechanism, as well as design tradeoffs across these mechanisms. This analysis also helps inform the suitability of a given mechanism for specific applications.

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