Abstract:Original citationGuangbo
ABSTRACTThis article deals with the design of 3-legged distributedcompliance XYZ compliant parallel manipulators (CPMs) with minimised parasitic rotations, based on the kinematically decoupled 3-PPPRR (P: prismatic joint, and R: revolute joint) and 3-PPPR translational parallel mechanisms (TPMs). The designs are firstly proposed using the kinematics substitution approach, with the help of the stiffness center (SC) overlapping based approach. This is done by appropriate embedded arrang… Show more
“…Gao and Zhang [6] designed a novel three-DOF compliant parallel mechanism and its performance characterization is analyzed which affects the application potential. Treatments of the characterization and design of compliant parallel mechanisms may also be found in literatures [7][8][9]. By using the flexure hinges instead of the conventional rigid joints, although this kind of structure composed method has spatial multidimensional motion characteristics, the whole stiffness is decent obviously.…”
A mechanism for topology optimization of 3-DOF parallel peristaltic structure robot with vector continuous mapping matrix using Solid Isotropic Material with Penalization (SIMP) method is presented in this paper. We focus on how to prevent the differential motion consistency between parallel prototype mechanisms with peristaltic structure. As the conventional parallel robot joints/hinges are no longer needed after topology optimization, therefore, we renamed this kind of 3-DOF robot structures as peristaltic structure. In the proposed method, the vector continuous mapping matrix is built as stress/strain transfer direction conditions for topology optimization of peristaltic structure, and SIMP method is used for multi-inputs and multioutputs decided by parallel prototype mechanisms. Some numerical examples are presented to illustrate the validity of the proposed method.
“…Gao and Zhang [6] designed a novel three-DOF compliant parallel mechanism and its performance characterization is analyzed which affects the application potential. Treatments of the characterization and design of compliant parallel mechanisms may also be found in literatures [7][8][9]. By using the flexure hinges instead of the conventional rigid joints, although this kind of structure composed method has spatial multidimensional motion characteristics, the whole stiffness is decent obviously.…”
A mechanism for topology optimization of 3-DOF parallel peristaltic structure robot with vector continuous mapping matrix using Solid Isotropic Material with Penalization (SIMP) method is presented in this paper. We focus on how to prevent the differential motion consistency between parallel prototype mechanisms with peristaltic structure. As the conventional parallel robot joints/hinges are no longer needed after topology optimization, therefore, we renamed this kind of 3-DOF robot structures as peristaltic structure. In the proposed method, the vector continuous mapping matrix is built as stress/strain transfer direction conditions for topology optimization of peristaltic structure, and SIMP method is used for multi-inputs and multioutputs decided by parallel prototype mechanisms. Some numerical examples are presented to illustrate the validity of the proposed method.
“…It should be noted that the stiffness center overlapping approach [57,62] can be further used to reduce the parasitic rotations of the XYZ motion stage instead of the use of the fully symmetrical design for the passive WBBCMs. It deserves mentioning again that the above XYZ CPMs should be chosen based on the actual application requirements.…”
“…The motion range of the micro manipulation stage is typically within several microns, for the reason of limited rotational scope of flexure hinges and limited stroke of piezoelectric actuators which are widely utilized in all kinds of flexure-based stages (Polit and Dong, 2011). For the purpose of getting better performance of the micromanipulation stage, more and more optimized flexure hinges with outstanding characteristics, such as more accurate in position and large motion scope, are designed by researchers (Acer and Sabanovic, 2013;Yi et al, 2003;Qin et al, 2013;Hao and Li, 2014).…”
Abstract. Flexure-based mechanisms have been widely used for scanning tunneling microscopy, nanoimprint lithography, fast servo tool system and micro/nano manipulation. In this paper, a novel planar micromanipulation stage with large rotational displacement is proposed. The designed monolithic manipulator has three degrees of freedom (DOF), i.e. two translations along the X and Y axes and one rotation around Z axis. In order to get a large workspace, the lever mechanism is adopted to magnify the stroke of the piezoelectric actuators and also the leaf beam flexure is utilized due to its large rotational scope. Different from conventional pre-tightening mechanism, a modified pre-tightening mechanism, which is less harmful to the stacked actuators, is proposed in this paper. Taking the circular flexure hinges and leaf beam flexures hinges as revolute joints, the forward kinematics and inverse kinematics models of this stage are derived. The workspace of the micromanipulator is finally obtained, which is based on the derived kinematic models.
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