Optimal Design of a 3-DOF Parallel Micromanipulator

2009 ◽  
Author(s):  
Dan Zhang ◽  
Zhen Gao ◽  
Beizhi Li
Keyword(s):  
Fiber Optics ◽  
Biomedical Engineering ◽  
Degrees Of Freedom ◽  
Radial Basis Function Networks ◽  
Element Analysis ◽  
Optics Industry ◽  
And Performance ◽  
And Behavior ◽  
Resultant Stress ◽  
Three Degrees Of Freedom

A new compliant parallel micromanipulator is proposed in this paper. The manipulator has three degrees of freedom (DOF) and can generate motions in a microscopic scale. It can be used for biomedical engineering and fiber optics industry. In the paper, the detailed design of the structure is first introduced, followed by the kinematic analysis and performance evaluation. Second, a finite-element analysis of resultant stress, strain, and deformations is evaluated based upon different inputs of the three piezoelectric actuators. Finally, the genetic algorithms and radial basis function networks are implemented to search for the optimal architecture and behavior parameters in terms of global stiffness, dexterity and manipulability.

Performance Optimization for a 3-DOF Micro-Motion Device

2011 ◽  
Vol 291-294 ◽  
pp. 3108-3111 ◽  
Author(s):  
Dan Zhang ◽  
Irene Fassi ◽  
Pei Gang Jiang
Keyword(s):  
Fiber Optics ◽  
Performance Optimization ◽  
Degrees Of Freedom ◽  
Compliant Mechanism ◽  
Parallel Manipulators ◽  
Mechanical Joints ◽  
Micro Motion ◽  
Optics Industry ◽  
And Behavior ◽  
Three Degrees Of Freedom

Traditional parallel manipulators suffer from errors due to backlash, hysteresis, and vibration in the mechanical joints. In this paper, a new 3SPS+RPR spatial compliant mechanism which has three degrees of freedom (DOF) and can generate motions in a microscopic scale is proposed. It can be utilized for biomedical engineering and fiber optics industry. The detailed design of the structure is introduced, followed by the performance evaluation. Then, the genetic algorithms and radial basis function networks are implemented to search for the optimal architecture and behavior parameters in terms of global stiffness/compliance, dexterity and manipulability.

Finite Element Analysis of 2-D Structures by New Strain Based Triangular Element

2018 ◽  
Vol 35 (3) ◽  
pp. 305-313 ◽  
Author(s):  
C. Rebiai
Keyword(s):  
Dynamic Analysis ◽  
Degrees Of Freedom ◽  
Numerical Solutions ◽  
Time Integration ◽  
Triangular Element ◽  
Membrane Element ◽  
Lumped Mass ◽  
Element Analysis ◽  
Benchmark Tests ◽  
Three Degrees Of Freedom

ABSTRACTIn this investigation, a new simple triangular strain based membrane element with drilling rotation for 2-D structures analysis is proposed. This new numerical model can be used for linear and dynamic analysis. The triangular element is named SBTE and it has three nodes with three degrees of freedom at each node. The displacements field of this element is based on the assumed functions for the various strains satisfying the compatibility equations. This developed element passed both patch and benchmark tests in the case of bending and shear problems. For the dynamic analysis, lumped mass with implicit/explicit time integration are employed. The obtained numerical results using the developed element converge toward the analytical and numerical solutions in both analyses.

scholarly journals Load–Displacement Characterization in Three Degrees-of-Freedom for General Lamina Emergent Torsion Arrays

2020 ◽  
Vol 142 (9) ◽  
Author(s):  
Nathan A. Pehrson ◽  
Pietro Bilancia ◽  
Spencer Magleby ◽  
Larry Howell
Keyword(s):  
Degrees Of Freedom ◽  
Design Space ◽  
Element Analysis ◽  
Array Design ◽  
Elastic Load ◽  
In Series ◽  
Load Displacement ◽  
Stiffness Characteristics ◽  
Tunable Stiffness ◽  
Three Degrees Of Freedom

Abstract Lamina emergent torsion (LET) joints for use in origami-based applications enables folding of panels. Placing LET joints in series and parallel (formulating LET arrays) opens the design space to provide for tunable stiffness characteristics in other directions while maintaining the ability to fold. Analytical equations characterizing the elastic load–displacement for general serial–parallel formulations of LET arrays for three degrees-of-freedom are presented: rotation about the desired axis, in-plane rotation, and extension/compression. These equations enable the design of LET arrays for a variety of applications, including origami-based mechanisms. These general equations are verified using finite element analysis, and to show variability of the LET array design space, several verification plots over a range of parameters are provided.

FEM Based Numerical Simulation of Delta Parallel Mechanism

2013 ◽  
Vol 690-693 ◽  
pp. 2978-2981 ◽  
Author(s):  
Jian Zhong Zhang ◽  
Xin Peng Xie ◽  
Chuan Jin Li ◽  
Ying Ying Xin ◽  
Zhao Ming He
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Theoretical Foundation ◽  
Future Research ◽  
Element Analysis ◽  
Pick And Place ◽  
Integral Structure ◽  
Inverse Dynamics Analysis ◽  
Three Degrees Of Freedom

This paper describes a parallel three degrees of freedom delta mechanism used for pick-and-place. It has the advantages of simple integral structure, strong bearing capacityhigh precisionkinematics and dynamics performance. According to this mechanism wide development prospect, the company study on the inverse kinematics inverse dynamics analysis and the static analysis by using ANSYS finite element analysis Software of Delta. These analyses have laid a good theoretical foundation for future research. These researches provide possible for widely used in foodpackingautomated assembly line occasions of small and medium-sized enterprises.

scholarly journals Nonanthropomorphic exoskeleton with legs based on eight-bar linkages

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141875577 ◽  
Author(s):  
Jorge Curiel Godoy ◽  
Ignacio Juárez Campos ◽  
Lucia Márquez Pérez ◽  
Leonardo Romero Muñoz
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Main Function ◽  
Polynomial Functions ◽  
Forward And Inverse Kinematics ◽  
And Performance ◽  
The Stability ◽  
Robotic Leg ◽  
Three Degrees Of Freedom ◽  
Difficulty Walking

This article presents the principles upon which a new nonanthropomorphic biped exoskeleton was designed, whose legs are based on an eight-bar mechanism. The main function of the exoskeleton is to assist people who have difficulty walking. Every leg is based on the planar Peaucellier–Lipkin mechanism, which is a one degree of freedom linkage. To be used as a robotic leg, the Peaucellier–Lipkin mechanism was modified by including two more degrees of freedom, as well as by the addition of a mechanical system based on toothed pulleys and timing belts that provides balance and stability to the user. The use of the Peaucellier–Lipkin mechanism, its transformation from one to three degrees of freedom, and the incorporation of the stability system are the main innovations and contributions of this novel nonanthropomorphic exoskeleton. Its mobility and performance are also presented herein, through forward and inverse kinematics, together with its application in carrying out the translation movement of the robotic foot along paths with the imposition of motion laws based on polynomial functions of time.

scholarly journals Modeling and Simulation of a Tubular Linear Switched Reluctance Actuator

2019 ◽  
Vol 8 (12S2) ◽  
pp. 489-494
Keyword(s):  
Finite Element ◽  
Force Analysis ◽  
Operation Performance ◽  
Element Analysis ◽  
Switched Reluctance ◽  
Nonlinear Force ◽  
And Performance ◽  
And Behavior ◽  
Nonlinear Magnetization

In this paper, 2-D finite element analysis and MATLAB/Simulink software are used to model and simulate the proposed tubular linear switched reluctance actuator. The analysis of the actuator by finite element is essential for determining the magnetization characteristics. The obtained data from the analysis is useful for testing and verifying the machine operation performance and behavior. According to the analysis, when a step current signal of 3A was applied to the actuator, oscillation occurred at beginning of the motion with maximum overshooting of 2mm and settling time of 0.15s. Besides, the force analysis showed there was nonlinear force behavior between - 3.5N and 2N observed from the actuator motion. The saturation and nonlinear magnetization curve of materials causes the nonlinearity characteristics of thrust force and magnetic flux which affect the performance of the actuator. The determination of the characteristics and performance is crucial for the proposed actuator to realize a precision positioning system in the future.

Design and Performance of a MR Torque Transfer Device

Aerospace ◽  
2005 ◽  
Author(s):  
Kevin Molyet ◽  
Constantin Ciocanel ◽  
Hideki Yamamoto ◽  
Nagi Naganathan
Keyword(s):  
Magnetic Field ◽  
Element Analysis ◽  
Mr Fluid ◽  
Mr Fluids ◽  
Active Portion ◽  
Fluid Properties ◽  
Predicted Values ◽  
And Performance ◽  
And Behavior ◽  
Transfer Device

Magnetorheological (MR) fluids possess the unique ability to undergo dramatic and nearly completely reversible changes in their rheological properties under the application of a magnetic field. These controllable fluids can serve as quiet, rapid interfaces between electronic controls and mechanical systems. One area of application is to use these fluids in torque transfer devices, such as clutches and brakes. After determining MR fluid properties and behavior using a rheometer, a parallel disk type MR clutch was successfully developed, which utilized a stationary electromagnetic coil. Finite element analysis was used to design the coil and clutch assembly in order to maximize the magnetic field generated within the MR fluid. The resulting magnetic field was uniform over the active portion of the clutch, easily controllable by adjusting the current passing through the coil, and provided a large range of field strength values. The experimentally measured output torque was generally in good agreement with predicted values. This work will detail the design considerations and methodology used to develop this clutch, which can be extended to the design of other MR devices.

scholarly journals An Investigation on a Novel 3-RCU Flexible Micromanipulator

Micromachines ◽  
2020 ◽  
Vol 11 (4) ◽  
pp. 423 ◽  
Author(s):  
Junnan Qian ◽  
Yangmin Li ◽  
Lukai Zhuge
Keyword(s):  
Carrying Capacity ◽  
Degrees Of Freedom ◽  
Transmission Efficiency ◽  
Element Analysis ◽  
Margin Of Error ◽  
Simulation Results ◽  
Amplification Mechanism ◽  
Working Performance ◽  
Three Degrees Of Freedom ◽  
Ansys Workbench

A novel type of spatial three revolute-cylindrical-universal (3-RCU) flexible micro manipulator is designed based on flexible hinges, and analyzed by finite element analysis (FEA). The piezoelectric actuators are adopted as driving devices in this platform, a new lever amplification mechanism is designed as its micro-displacement amplification mechanism, the workspace of the platform is enlarged, and the theoretical and simulation amplification ratios of the amplification mechanism are 3.056 and 2.985, respectively. The margin of error is just 2.3%. In space, the 3-RCU platform can realize the micro movement of three degrees of freedom. Also, the platform has a high carrying capacity, less motion loss, and the transmission efficiency is higher when the platform works. The decoupling performance, stress under extreme conditions and natural frequency of the platform are simulated by ANSYS Workbench software. A series of simulation analyses show the feasibility and security of the platform. The platform has good decoupling and working performance. The simulation results show that the platform has high simulation stiffness and high positioning accuracy.

Kinematics Modeling of a Family of Pure Translational 3-P^UR Parallel Linear Manipulators

2010 ◽  
Author(s):  
Giovanni Boschetti ◽  
Roberto Caracciolo ◽  
Alberto Trevisani
Keyword(s):  
Analytical Solutions ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Performance Indexes ◽  
Kinematics Modeling ◽  
Linear Actuators ◽  
And Performance ◽  
Three Degrees Of Freedom

This paper introduces a simplified kinematic model for a family of parallel linear manipulators with three degrees of freedom of pure translation. The P^UR topology of the limbs and the adjustable layout of the linear actuators are the main characteristics of such a family. The analytical solutions of the forward and inverse position and velocity kinematics are presented. Then the variations of the manipulator features in terms of workspace and performance indexes are investigated as functions of the actuators arrangement.

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