Development of a Compliant-Mechanism-Based Compact Three-Axis Force Sensor for High-Precision Manufacturing

2015 ◽  
Author(s):  
Guangbo Hao ◽  
Marc Murphy ◽  
Xichun Luo
Keyword(s):  
High Precision ◽  
Parallel Mechanism ◽  
Compliant Mechanism ◽  
Experimental Testing ◽  
Force Sensor ◽  
Force Sensing ◽  
Linear Matrix ◽  
Precision Manufacturing ◽  
Decoupling Method ◽  
Compliant Parallel Mechanism

This paper develops a light-weight compact three-axis force senor for high-precision manufacturing application. This sensor uses a cubic three-axial translational compliant parallel mechanism to undergo the loading on its end-effector thereby producing voltages through strain gauges on the deformed beams. The cubic compliant parallel mechanism and sensor system are described at first. Force sensing theoretical analysis is then presented followed by the initial experimental testing and analysis. A linear matrix based multi-axis loading decoupling method is also proposed so that the sensed force can maximally reflect the actual applied force in each axis. The work in this paper is expected to lay a foundation for further investigation into the online force sensing in the high-precision machine tool.

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

Self-Calibration of XY-Stage with Parallel Mechanism

2014 ◽  
Vol 590 ◽  
pp. 126-129
Author(s):  
Ryoshu Furutani ◽  
Satoshi Yokouchi ◽  
Miyu Ozaki
Keyword(s):  
High Precision ◽  
Parallel Mechanism ◽  
Least Squares Method ◽  
Calibration Method ◽  
Measuring Instruments ◽  
Precision Manufacturing ◽  
Kinematic Parameters ◽  
Self Calibration ◽  
Simulation And Experiment ◽  
Experimental Process

It is important to calibrate the straightness and the squareness of the XY-stage for precision manufacturing and measurement. Normally it is calibrated using much higher precise and accurate measuring instruments and/or artifacts. The high precision and accurate instruments and artifacts are expensive. So, in this paper, Self-calibration method is applied to XY-stage. This method does not require any much high precision and accurate instruments and artifacts. The normal XY-stage moves to the location at the unique coordinates. In this case, it is difficult to apply self-calibration method. Therefore, XY-stage is expanded to XYθ-stage with parallel mechanism. As this stage moves to the location at a lot of coordinates, self-calibration method is applied. This method is confirmed in simulation and experiment. In simulation, the extension lengths of mechanism are estimated from known kinematic parameters and the target coordinates. After that, estimated kinematic parameters are calculated by least-squares method from the extension lengths and the target coordinates. Finally, the positioning coordinates are calculated from the estimated kinematic parameters and the extension lengths. It is proved that the calibration method is effective by comparing the target coordinates and the positioning coordinates. In experiment, the experimental process is similar to the simulation without the estimation of extension lengths. The results of simulation and experiment are shown in this paper.

Miniature Continuum Manipulator with 3-DOF Force Sensing for Retinal Microsurgery

2021 ◽  
pp. 1-34
Author(s):  
Tianci Zhang ◽  
Zhongyuan Ping ◽  
Siyang Zuo
Keyword(s):  
Degrees Of Freedom ◽  
Compliant Mechanism ◽  
Force Sensor ◽  
Experimental Results ◽  
Surgical Instruments ◽  
Force Sensing ◽  
Clinical Value ◽  
Artificial Eye ◽  
Force Sensitivity ◽  
Continuum Manipulator

Abstract Retinal microsurgery requires the precise manipulation of delicate tissue in the interior of the eye. Smart surgical instruments with dexterous tip and force sensing capabilities can permit surgeons to perform more flexible surgical procedures and obtain imperceptible force information, thereby improving the safety and efficiency of microsurgery. In this study, we present an intraocular continuum manipulator with three degrees of freedom (DOF) force sensing capabilities. A contact-aided compliant mechanism based on cutting superelastic Nitinol tubes is used to provide high dexterity. It enables two rotational DOFs at the distal end of the manipulator. Fiber Bragg grating (FBG) fibers are used to provide high-resolution force measurements. Moreover, a novel Nitinol flexure was designed to achieve high axial force sensitivity. The experimental results show that the maximum bending angle of the dexterous tip is more than ±45° for each DOF with high repeatability. In addition, the experimental results demonstrate that the proposed force sensor can provide sub-millinewton resolution. Conclusion: The manipulator has also been validated with an artificial eye model, demonstrating the potential clinical value of the manipulator for retinal microsurgery.

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.

scholarly journals Design and Analysis of a Novel Six-Component F/T Sensor based on CPM for Passive Compliant Assembly

2013 ◽  
Vol 13 (5) ◽  
pp. 253-264 ◽  
Author(s):  
Qiaokang Liang ◽  
Dan Zhang ◽  
Yaonan Wang ◽  
Yunjian Ge
Keyword(s):  
Structural Design ◽  
Parallel Mechanism ◽  
High Performance ◽  
High Sensitivity ◽  
Force Sensor ◽  
Element Analysis ◽  
Compliant Assembly ◽  
Compliant Parallel Mechanism ◽  
Passive Compliance ◽  
Component Force

Abstract This paper presents the design and analysis of a six-component Force/Torque (F/T) sensor whose design is based on the mechanism of the Compliant Parallel Mechanism (CPM). The force sensor is used to measure forces along the x-, y-, and z-axis (Fx, Fy and Fz) and moments about the x-, y-, and z-axis (Mx, My and Mz) simultaneously and to provide passive compliance during parts handling and assembly. Particularly, the structural design, the details of the measuring principle and the kinematics are presented. Afterwards, based on the Design of Experiments (DOE) approach provided by the software ANSYS®, a Finite Element Analysis (FEA) is performed. This analysis is performed with the objective of achieving both high sensitivity and isotropy of the sensor. The results of FEA show that the proposed sensor possesses high performance and robustness.

Design of a 3-DOF Compliant Parallel Mechanism for Displacement Amplification

2013 ◽  
Author(s):  
Qiang Zeng ◽  
Kornel F. Ehmann
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Heat Balance ◽  
Parallel Mechanism ◽  
Compliant Mechanism ◽  
Element Analysis ◽  
Resonant Frequencies ◽  
Compact Size ◽  
Compliant Parallel Mechanism ◽  
Monolithic Structure

Prevalent general design methods and applications of compliant displacement amplifiers are focused on 1-DOF units composed into serial structures, which are limited by their output motions, stiffness, heat balance, repeatability and resonant frequencies. To improve the output properties of compliant displacement amplifiers, a monolithic structure is presented in the form of a compliant parallel mechanism. In the proposed moving structure, the compliant mechanism of the displacement amplifier is designed with 3-DOF to generate uniformly magnified output properties in all directions. High first resonant frequencies and amplification ratios are achieved in a compact size compared to existing compliant displacement amplifiers. The related kinematics, amplification ratios and resonant frequencies of the amplifier are analytically modeled, and the results are simulated by finite-element analysis. The proposed design is employable for micro/nano positioning stages operating within a prismatic output workspace.

A bio-inspired compliant parallel mechanism for high-precision robots

2012 ◽  
Author(s):  
Hiroaki Kozuka ◽  
Jumpei Arata ◽  
Kenji Okuda ◽  
Akinori Onaga ◽  
Motoshi Ohno ◽  
...  
Keyword(s):  
High Precision ◽  
Parallel Mechanism ◽  
Compliant Parallel Mechanism
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