Topology optimization of a 6-DOF spatial compliant mechanism based on Stewart propotype platform

Zhu, Dachang; Zhan, Wanghu

doi:10.1007/s10409-019-00877-8

Cited by 9 publications

(3 citation statements)

References 37 publications

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“…Therefore, two working modes, micro-motion and macromotion were captured with the reachable workspaces of 140µm × 140µm × 135µm, and 9.7mm × 9.7mm × 9.5mm, respectively. Implementing topology optimization, the model of a six-DOF spatial compliant monolithic system with a submicron workspace was constructed [27], which had the same differential kinematic characteristics as the Gough-Stewart prototype platform. A small range non-monolithic six-DOF micropositioner based on a compliant mechanism with the overall dimension of 241 × 241 × 67mm 3 , and driving with 8 PEAs was introduced [28].…”

Section: Introductionmentioning

confidence: 99%

Monolithic Six-DOF Parallel Positioning System for High-precision and Large-range Applications

Ghafarian¹,

Shirinzadeh²,

Al-Jodah³

2023

Preprint

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A compact large-range six-degrees-of-freedom (six-DOF) parallel positioning system with high resolution, high resonant frequency, and high repeatability was proposed. It mainly consists of three identical kinematic sections. Each kinematic section consists of two identical displacement amplification and guiding mechanisms, which are finally connected to a limb. Each limb was designed with a universal joint at each end and connected to a moving stage. A computational model of the positioner was built in the ANSYS software package, hence, the input stiffness, output compliance, range, and modal analysis of the system were found. Furthermore, a monolithic prototype made of Acrylonitrile Butadiene Styrene (ABS) was successfully manufactured by the 3D-printing process. It was actuated and sensed by piezoelectric actuators (PEAs) and capacitive displacement sensors, respectively. Finally, the performances of this proposed positioner were experimentally investigated. The positioning resolution was achieved as 10.5nm × 10.5nm × 15nm × 1.8µrad × 1.3µrad × 0.5µrad. The experimental results validate the behavior and capabilities of the proposed positioning system, and also verify the nanometer-scale spatial positioning accuracy within the overall stroke range. Practical applications of the proposed system can be expanded to pick-and-place manipulation, vibration-canceling in microsurgery/micro-assembly, and collaborative manipulators systems.

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Section: Introductionmentioning

confidence: 99%

Monolithic Six-DOF Parallel Positioning System for High-precision and Large-range Applications

Ghafarian¹,

Shirinzadeh²,

Al-Jodah³

2023

Preprint

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“…The solid body kinematics model of the three-PRS was established. Zhu [22] synthesized a six degrees of freedom spatial compliant mechanism combined the topology optimization method with the isomorphic mapping matrix. The geometry after topology optimization was not standardized, and the establishment of the model was relatively difficult.…”

Section: Introductionmentioning

confidence: 99%

Design and Modeling of a Curved Beam Compliant Mechanism with Six Degrees of Freedom

et al. 2022

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Compliant mechanisms are widely used in cutting-edge scientific and technological fields such as precision engineering, micro-/nano-manipulation, or microelectronics. Hence, the demand for multi-degree-of-freedom compliant mechanisms has increased sharply. The structure of compliant mechanisms becomes increasingly complex with the increase of degrees of freedom. Here, a compliant mechanism with six degrees of freedom is proposed based on curved beams. The compliant mechanism has the advantages of simple structure and multi-degree-of-freedom. Using the isogeometric analysis method, a model of the mechanism is constructed. Static analysis show that six degrees of freedom can be generated. The prototype of the mechanism is developed by 3D printing. A loading test in six degrees of freedom is carried out. The output and input have high linear relations and the structure has low inter-directional coupling. We trust that this study provides a pioneering step towards the design of compliant mechanisms based on curved beam elements.

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“…In [10], the maximum workspace of the robot is obtained according to constraints imposed by the surrounding settings. In [11], the topology optimization is proposed to improve the global stiffness. In [12,13], typical non-dimensional performance indices were used to optimize the geometric parameters of a 3-DOF parallel kinematic structure.…”

Section: Introductionmentioning

confidence: 99%

Multi-objective Optimization of Compliant Parallel Platform for Desired Stiffness and Workspace

Zhou

et al. 2021

Preprint

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Stiffness and workspace are crucial performance indexes of a precision mechanism. In this paper, an optimization method is presented, for a compliant parallel platform to achieve desired stiffness and workspace. First, a numerical model is proposed to reveal the relationship between structural parameters, desired stiffness and workspace of the compliant parallel platform. Then, the influence of the various parameters on stiffness and workspace of the platform is analyzed. Based on Gaussian distribution, the multi-objective optimization problem is transformed into a single-objective one, in order to guarantee convergence precision. Furthermore, particle swarm optimization is used to optimize the structural parameters of the platform, which significantly improve its stiffness and workspace. Last, the effectiveness of the proposed numerical model is verified by finite element analysis and experiment.

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Topology optimization of a 6-DOF spatial compliant mechanism based on Stewart propotype platform

Cited by 9 publications

References 37 publications

Monolithic Six-DOF Parallel Positioning System for High-precision and Large-range Applications

Monolithic Six-DOF Parallel Positioning System for High-precision and Large-range Applications

Design and Modeling of a Curved Beam Compliant Mechanism with Six Degrees of Freedom

Multi-objective Optimization of Compliant Parallel Platform for Desired Stiffness and Workspace

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