Relationship among input-force, payload, stiffness and displacement of a 3-DOF perpendicular parallel micro-manipulator

Yue, Yi; Gao, Feng; Zhao, Xin; Ge, Q. J.

doi:10.1016/j.mechmachtheory.2009.12.006

Cited by 67 publications

(32 citation statements)

References 20 publications

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“…Therefore, amplification mechanisms are needed. Flexure-based compliant mechanism is the first choice, which has no backlash, no lubrication requirement, repeatable motion and vacuum compatibility [7][8][9][10]. Levertype mechanism is the most common one [11,12].…”

Section: Introductionmentioning

confidence: 99%

Analysis of the displacement amplification ratio of bridge-type mechanism

Xiang

Fang

et al. 2015

Mechanism and Machine Theory

137

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Section: Introductionmentioning

confidence: 99%

Analysis of the displacement amplification ratio of bridge-type mechanism

Xiang

Fang

et al. 2015

Mechanism and Machine Theory

137

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“…There are plenty of typical designs of XYZ compliant manipulators from non-commercial academic inventions [11][12][13][14][15] and commercialised products in market [16][17]. Despite their many good characteristics, these existing designs can still be improved.…”

Section: Introductionmentioning

confidence: 99%

“…Despite their many good characteristics, these existing designs can still be improved. The designs in [11,12] produce a small range of motion and large stress concentration and are very sensitive to manufacturing, due to the use of lumpedcompliance modules. Recently, Awtar et al [13] proposed a novel large-range XYZ parallel kinematic flexure mechanism with geometrically decoupled DOF (degree of freedom) using identical flexure plates/leaves, which has a more compact and simpler construction.…”

Section: Introductionmentioning

confidence: 99%

Design of 3-legged XYZ compliant parallel manipulators with minimised parasitic rotations

Hao

2014

Robotica

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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 arrangement so that all of the SCs associated with the passive compliant modules overlap at the point where all of the input forces applied at the input stages intersect. Kinematostatic modelling and characteristic analysis are then carried out for the proposed large-range 3-PPPRR XYZ CPM with overlapping SCs. The results from finite element analysis (FEA) are compared to the characteristics found for the developed analytical models, as are experimental testing results (primary motion) from the prototyped 3-PPPRR XYZ CPM with overlapping SCs. Finally, issues on large-range motion and dynamics of such designs are discussed, as are possible improvements of the actuated compliant P joint. It is shown that the potential merits of the designs presented here include a) minimised parasitic rotations by only using three identical compliant legs; b) compact configuration and small size due to the use of embedded design; c) approximately kinematostatically decoupled design capable of easy control; and d) monolithic fabrication for each leg using existing planar manufacturing technologies such as electric discharge machining (EDM).

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“…Kinetostatic coupling may lead to complicated motion control, which is the sufficient condition of kinematic decoupling. A number of literatures have reported the design of decoupled XYZ CPMs for motion/positioning stage and sensing applications (Hao andKong, 2009, 2012b;Gao and Zhang, 2010;Li and Xu, 2011;Pham et al, 2006;Yue et al, 2010;Tang et al, 2006) using kinematics design methods (Hao, 2011). Here, each of the three kinematic legs/chains, which are coupled in parallel, is individually a serial-parallel hybrid arrangement.…”

Section: Introductionmentioning

confidence: 99%

“…But none of them have showed the possibility for monolithic fabrication. Also, these designs have their own limitations such small motion range (Li and Xu, 2011;Pham et al, 2006;Yue et al, 2010), bulky and complex configuration (due to the serial-parallel hybrid arrangement) (Li and Xu, 2011;Pham et al, 2006;Hao and Kong, 2009;Tang et al, 2006), and poor out-of-plane stiffness of the PP plane in each leg (Li and Xu, 2011;Pham et al, 2006;Hao and Kong, 2009;Yue et al, 2010;Tang et al, 2006). Recently, Awtar et al (2013) proposed a novel XYZ parallel kinematic flexure mechanism with geometrically decoupled DoF using identical flexure plates, which has a more compact and simpler construction and has the possibility to be fabricated monolithically.…”

Section: Introductionmentioning

confidence: 99%

Towards the design of monolithic decoupled XYZ compliant parallel mechanisms for multi-function applications

Hao

2013

Mech. Sci.

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Abstract. This paper deals with the monolithic decoupled XYZ compliant parallel mechanisms (CPMs) for multi-function applications, which can be fabricated monolithically without assembly and has the capability of kinetostatic decoupling. At first, the conceptual design of monolithic decoupled XYZ CPMs is presented using identical spatial compliant multi-beam modules based on a decoupled 3-PPPR parallel kinematic mechanism. Three types of applications: motion/positioning stages, force/acceleration sensors and energy harvesting devices are described in principle. The kinetostatic and dynamic modelling is then conducted to capture the displacements of any stage under loads acting at any stage and the natural frequency with the comparisons with FEA results. Finally, performance characteristics analysis for motion stage applications is detailed investigated to show how the change of the geometrical parameters can affect the performance characteristics, which provides initial optimal estimations. Results show that the smaller thickness of beams and larger dimension of cubic stages can improve the performance characteristics excluding natural frequency under allowable conditions. In order to improve the natural frequency characteristic, a monolithic decoupled configuration that is achieved through employing more beams in the spatial modules or reducing the mass of each cubic stage mass can be adopted. In addition, an isotropic variation with different motion range along each axis and same payload in each leg is proposed. The redundant design for monolithic fabrication is introduced in this paper, which can overcome the drawback of monolithic fabrication that the failed compliant beam is difficult to replace, and extend the CPM's life.

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Relationship among input-force, payload, stiffness and displacement of a 3-DOF perpendicular parallel micro-manipulator

Cited by 67 publications

References 20 publications

Analysis of the displacement amplification ratio of bridge-type mechanism

Analysis of the displacement amplification ratio of bridge-type mechanism

Design of 3-legged XYZ compliant parallel manipulators with minimised parasitic rotations

Towards the design of monolithic decoupled XYZ compliant parallel mechanisms for multi-function applications

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