scholarly journals Design of a New XY Flexure Micropositioning Stage With a Large Hollow Platform

Actuators ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 65
Author(s):  
Hanlun Zhang ◽  
Zehao Wu ◽  
Qingsong Xu
Keyword(s):  
Range Of Motion ◽  
Natural Frequency ◽  
Analytical Modeling ◽  
Parametric Design ◽  
Large Range ◽  
Layer Structure ◽  
Kinematic Structure ◽  
Practical Applications ◽  
Hollow Space ◽  
Parallel Kinematic

This paper presents the design of a new flexure-based xy micropositioning stage with a large hollow platform, which is suitable for practical use with a microscope. The designed mechanism has a parallel-kinematic structure and is actuated by two voice coil motors. By employing multistage compound parallelogram flexures, the stage is designed as a four-layer structure, which produces a motion output platform with a large hollow space and large range of motion. Analytical modeling was carried out for parametric design of the stage. Evaluation results show that the designed xy stage exhibits a large safety factor and high natural frequency. Moreover, the large hollow platform is well-suited for practical applications with a microscope.

scholarly journals Modal Kinematic Analysis of a Parallel Kinematic Robot with Low-Stiffness Transmissions

Robotics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 132
Author(s):  
Paolo Righettini ◽  
Roberto Strada ◽  
Filippo Cortinovis
Keyword(s):  
High Speed ◽  
Parallel Robots ◽  
Maximum Speed ◽  
Kinematic Structure ◽  
End Effector ◽  
New Approach ◽  
Working Space ◽  
Modes Of Vibration ◽  
Parallel Kinematic ◽  
Actuated Joints

Several industrial robotic applications that require high speed or high stiffness-to-inertia ratios use parallel kinematic robots. In the cases where the critical point of the application is the speed, the compliance of the main mechanical transmissions placed between the actuators and the parallel kinematic structure can be significantly higher than that of the parallel kinematic structure itself. This paper deals with this kind of system, where the overall performance depends on the maximum speed and on the dynamic behavior. Our research proposes a new approach for the investigation of the modes of vibration of the end-effector placed on the robot structure for a system where the transmission’s compliance is not negligible in relation to the flexibility of the parallel kinematic structure. The approach considers the kinematic and dynamic coupling due to the parallel kinematic structure, the system’s mass distribution and the transmission’s stiffness. In the literature, several papers deal with the dynamic vibration analysis of parallel robots. Some of these also consider the transmissions between the motors and the actuated joints. However, these works mainly deal with the modal analysis of the robot’s mechanical structure or the displacement analysis of the transmission’s effects on the positioning error of the end-effector. The discussion of the proposed approach takes into consideration a linear delta robot. The results show that the system’s natural frequencies and the directions of the end-effector’s modal displacements strongly depend on its position in the working space.

A Large Range Compliant Nano-Manipulator Supporting Electron Beam Lithography

2022 ◽  
pp. 1-48
Author(s):  
Yijie Liu ◽  
Zhen Zhang
Keyword(s):  
Electron Beam ◽  
Natural Frequency ◽  
High Precision ◽  
Electron Beam Lithography ◽  
Optimization Design ◽  
Large Range ◽  
Direct Write ◽  
Motion Stage ◽  
Cross Axis ◽  
Precision Motion

Abstract Electron beam lithography (EBL) is an important lithographic process of scanning a focused electron beam (e-beam) to direct write a custom pattern with nanometric accuracy. Due to the very limited field of the focused election beam, a motion stage is needed to move the sample to the e-beam field for processing large patterns. In order to eliminate the stitching error induced by the existing “step and scan” process, we in this paper propose a large range compliant nano-manipulator so that the manipulator and the election beam can be moved in a simultaneous manner. We also present an optimization design for the geometric parameters of the compliant manipulator under the vacuum environment. Experimental results demonstrate 1 mm × 1 mm travel range with high linearity, ~ 0.5% cross-axis error and 5 nm resolution. Moreover, the high natural frequency (~ 56 Hz) of the manipulator facilitates it to achieve high-precision motion of EBL.

Dynamic Analysis and Parametric Optimization of Telescopic Tubular Mast Applied on Solar Sail

2020 ◽  
Author(s):  
Chen-Yang Ji ◽  
Jin-Guo Liu ◽  
Chen-Chen Wu ◽  
Peng-Yuan Zhao ◽  
Ke-Li Chen
Keyword(s):  
Natural Frequency ◽  
Parametric Design ◽  
Solar Sail ◽  
Work Flow ◽  
Equivalent Model ◽  
Genetic Optimization ◽  
Design And Optimization ◽  
Development Cycle ◽  
Equivalent Load ◽  
Genetic Optimization Algorithm

Abstract The Telescopic Tubular Mast (TTM) has excellent performance and is widely used in aerospace. Reasonable parameter design and optimization can shorten development cycle and improve performance for TTM. This paper designed a TTM driven by the bistable carbon reeled composite boom. The equivalent model of the TTM is established and simulated, which can be used as ex-tending structure for the solar sail. The work flow of the solar sail with the TTM is introduced. The natural frequency of the equivalent model and the segmented model is solved respectively using ABAQUS. The TTM under six different load conditions is analyzed. The influence of different factors on the vibration characteristics of the TTM is analyzed and the sensitivity analysis is carried out. Parameters including stiffness, natural frequency, mass and extension ratio are optimized using the multi-objective genetic optimization algorithm. According to the optimization results, the prototype was processed, and the experiment was completed with the equivalent load of solar sail. It provides a reference for the parametric design of the TTM.

Parametric Design and Modal Analysis on Oval Gear Based on CATIA

2014 ◽  
Vol 538 ◽  
pp. 79-82
Author(s):  
Zhi Dong Huang ◽  
Yun Pu Du ◽  
Han Xiao Li ◽  
Xiu Li Sun ◽  
Yu Wang
Keyword(s):  
Dynamic Response ◽  
Modal Analysis ◽  
Dynamic Model ◽  
Natural Frequency ◽  
Parametric Design ◽  
Three Dimensional ◽  
Solid Modeling ◽  
Response Analysis ◽  
Dynamic Design ◽  
Oval Gear

The characteristics of oval gear is analyzed. The parameters of oval gear are chosen and calculated. The three-dimensional solid modeling of oval gear is achieved. The dynamic model of oval gear is established by FEM and modal analysis of oval gear is investigated. The natural frequency and major modes of the first six orders are clarified. The method and the result facilitate the dynamic design and dynamic response analysis of oval gear.

Passively Driven Redundant Spherical Joint With Very Large Range of Motion

2017 ◽  
Vol 9 (3) ◽  
Author(s):  
Louis-Thomas Schreiber ◽  
Clément Gosselin
Keyword(s):  
Range Of Motion ◽  
Tilt Angle ◽  
Active Component ◽  
Large Range ◽  
Kinematic Model ◽  
Static Model ◽  
Spherical Joint ◽  
Torsional Spring

This paper presents a novel passive redundant spherical joint with a very large range of motion. A kinematic model is first developed in order to provide a framework for the analysis. The principle of the redundant joint is then introduced. The proposed joint does not require any active component since the redundancy is passively handled using springs. A static model of the joint is developed in order to clearly demonstrate how all singularities or jamming configurations can be avoided. Two possible arrangements are presented, one using linear springs and one using a torsional spring. Finally, experimental prototypes are demonstrated that can attain a range of tilt angle of ±150 deg.

scholarly journals Modelling and Simulation of Machine Tool Prototype with 6DOF Parallel Mechanism in Matlab / Simulink

2019 ◽  
Vol 254 ◽  
pp. 03002 ◽  
Author(s):  
Vladimír Bulej ◽  
Juraj Uríček ◽  
Manfred Eberth ◽  
Ivan Kuric ◽  
Ján Stanček
Keyword(s):  
Machine Tool ◽  
Simulation Model ◽  
Mechanical System ◽  
Parallel Mechanism ◽  
Control Algorithms ◽  
Kinematic Structure ◽  
Matlab Simulink ◽  
Parallel Kinematic ◽  
Functional Blocks ◽  
Functional Prototype

The article deals with the preparation of simulation model of mechanism with parallel kinematic structure called hexapod as an electro-mechanical system in software MATLAB/Simulink. The simulation model is composed from functional blocks represented each part of mechanism’s kinematic structure with certain properties. The results should be used for further simulation of its behaviour as well as for generating of control algorithms for real functional prototype.

Numerical Simulation and Infrared Measurement of Welding Temperature Field for T-Joint

2012 ◽  
Vol 548 ◽  
pp. 686-690
Author(s):  
Li Jia ◽  
Yong Zou ◽  
Zeng Da Zou
Keyword(s):  
Numerical Simulation ◽  
Temperature Field ◽  
Parametric Design ◽  
Source Model ◽  
Cooling Process ◽  
Heat Source Model ◽  
Welding Temperature ◽  
Practical Applications ◽  
Infrared Measurement ◽  
Ansys Parametric Design Language

The welding temperature field of T-joint was simulated by using ANSYS parametric design language (APDL), and infrared thermometers were used to measure the real-time temperature of the observation points during welding and cooling process. The simulation results match well with the measured results, which is indicated that the heat source model and the parameters used in this study is correct. The research results of this paper provide a basis and reference for further investigations and practical applications of numerical simulation for T-joints.

A 3-DOF Translational Compliant Parallel Manipulator Based on Flexure Motion

2009 ◽  
Author(s):  
Guangbo Hao ◽  
Xianwen Kong
Keyword(s):  
Range Of Motion ◽  
Parallel Manipulator ◽  
Large Range ◽  
Parallel Manipulators ◽  
Mathematic Modeling ◽  
Ultra Precision ◽  
Cross Axis ◽  
Force Displacement

This paper presents a novel class of 3-DOF translational compliant parallel manipulators (CPMs) based on flexure motion. The analytic mathematic modeling of CPMs is first developed. The analysis of CPMs is then implemented. It is shown that the proposed CPMs have many characteristics such as large range of motion, negligible cross-axis coupling, actuator complete isolation, and no loss motion and no rotational yaw. The inverse relationships of force-displacement of the 3-DOF CPM are further derived to calculate the input forces required for generating a specified path. In addition, the 3-DOF CPM can also be turned into a 2-DOF CPM. This work lays the foundation for the development of new spatial CPMs based on flexure motions for applications such as ultra precision manipulation.

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