Synthesis of multiple degrees-of-freedom spatial-motion compliant parallel mechanisms with desired stiffness and dynamics characteristics

Pham, Minh Tuan; Teo, Tat Joo; Yeo, Song Huat

doi:10.1016/j.precisioneng.2016.07.014

Cited by 16 publications

(19 citation statements)

References 21 publications

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“…In this section, the criteria for designing 3-legged CPMs with fully-decoupled motions derived in [25] are integrated into the beam-based structural optimization method presented in [26] to synthesize a novel 6-DOF CPM. The general structure of a CPM created by the beam-based method is illustrated in Figure 1a.…”

Section: Synthesis Of the Six-dof Cpmmentioning

confidence: 99%

“…Hence, curved beams are directly used in this work to create the CPM with 6 DOF. The detailed modeling of these beams is described in [26]. In particular, the center curves of the beams are defined in the XY plane and the orientation of the beam can only be 90 • (perpendicular to the XY plane as shown in Figure 1b) or 0 • (parallel to the XY plane as shown in Figure 1c) in order to obtain the decoupled output motions.…”

Section: Synthesis Of the Six-dof Cpmmentioning

confidence: 99%

“…The dynamic optimization is then carried out to determine the size of the curved beams as well as to distribute additional masses at suitable positions. Details of the stiffness and dynamic optimizations can be found in [26]. By using beam-type flexures with the actuating stiffness being minimized, the 6-DOF CPM is desired to have large workspace.…”

Section: Synthesis Of the Six-dof Cpmmentioning

confidence: 99%

“…The [6 × 6] stiffness matrix, K, represents the stiffness characteristics in the six DOF of the CPM can be obtained by the condensation of K s . Details of the matrix condensation are described in [26].…”

Section: Synthesis Of the Six-dof Cpmmentioning

confidence: 99%

“…This research work aims to overcome the drawbacks of existing six-DOF CPMs, by proposing a novel design with decoupled motions and a large workspace. In this work, the criteria for designing three-legged CPMs with fully-decoupled motions presented in [25] are employed and integrated into the beam-based structural optimization method [26] to synthesize a novel six-DOF CPM with both stiffness property and six primary resonance frequencies being optimized. Typically, dynamic property of a CPM is determined by the stiffness and the mass distribution within the entire structure.…”

Section: Introductionmentioning

confidence: 99%

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A Decoupled 6-DOF Compliant Parallel Mechanism with Optimized Dynamic Characteristics Using Cellular Structure

et al. 2021

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This paper presents a novel six degrees-of-freedom (DOF) compliant parallel mechanism (CPM) with decoupled output motions, large workspace of ≥6 mm for translations and ≥12° for rotations, optimized stiffness, and dynamic properties. The working range and the motion decoupling capability of the six-DOF CPM are experimentally verified, and the mechanical properties are shown to be predictable. The proposed CPM is synthesized by applying the beam-based structural optimization method together with the criteria for achieving motion decoupling capability. In order to improve the dynamic behaviors for the CPM, cellular structure is used to design its end effector. The obtained results show that the dynamic performance of the CPM with cellular end effector is significantly enhanced with the increase of 33% of the first resonance frequency as compared to the initial design. Performances of the three-dimensional (3D)-printed prototype are experimentally evaluated in terms of mechanical characteristics and decoupled motions. The obtained results show that the actual stiffness and dynamic properties agree with the predictions with the highest deviation of ~10.5%. The motion decoupling capability of the CPM is also demonstrated since almost input energy (>99.5%) generates the desired output motions while the energy causes parasitic motions is only minor (<0.5%).

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Section: Synthesis Of the Six-dof Cpmmentioning

confidence: 99%

Section: Synthesis Of the Six-dof Cpmmentioning

confidence: 99%

Section: Synthesis Of the Six-dof Cpmmentioning

confidence: 99%

Section: Synthesis Of the Six-dof Cpmmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Decoupled 6-DOF Compliant Parallel Mechanism with Optimized Dynamic Characteristics Using Cellular Structure

et al. 2021

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The Emergence of Cyber‐Physical System in the Context of Self‐Powered Soft Robotics

Darwin,

Fantin Irudaya Raj

2023

Self‐Powered Cyber Physical Systems

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Soft Actuators for Small‐Scale Robotics

et al. 2016

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This review comprises a detailed survey of ongoing methodologies for soft actuators, highlighting approaches suitable for nanometer- to centimeter-scale robotic applications. Soft robots present a special design challenge in that their actuation and sensing mechanisms are often highly integrated with the robot body and overall functionality. When less than a centimeter, they belong to an even more special subcategory of robots or devices, in that they often lack on-board power, sensing, computation, and control. Soft, active materials are particularly well suited for this task, with a wide range of stimulants and a number of impressive examples, demonstrating large deformations, high motion complexities, and varied multifunctionality. Recent research includes both the development of new materials and composites, as well as novel implementations leveraging the unique properties of soft materials.

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Synthesis of multiple degrees-of-freedom spatial-motion compliant parallel mechanisms with desired stiffness and dynamics characteristics

Cited by 16 publications

References 21 publications

A Decoupled 6-DOF Compliant Parallel Mechanism with Optimized Dynamic Characteristics Using Cellular Structure

A Decoupled 6-DOF Compliant Parallel Mechanism with Optimized Dynamic Characteristics Using Cellular Structure

The Emergence of Cyber‐Physical System in the Context of Self‐Powered Soft Robotics

Soft Actuators for Small‐Scale Robotics

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