Analysis of Compliance and Kinetostatic of a Novel Class of n-4R Compliant Parallel Micro Pointing Mechanism

Self Cite

This paper proposes two optimal design schemes for improving the kinematic and dynamic performance of the 3-PSS flexible parallel micromanipulator according to different application requirements and conditions. Firstly, the workspace, dexterity, frequencies, and driving forces of the mechanism are successively analyzed. Then, a progressive optimization design is carried out, in which the scale parameters of this mechanism are firstly optimized to maximize the workspace, combining the constraints of the minimum global dexterity of the mechanism. Based on the optimized scale parameters, the minimum thickness and the cutting radius of the flexure spherical hinge are further optimized for minimizing the required driving forces, combined with constraints of the minimum first-order natural frequency of the mechanism and the maximum stress of the flexure spherical hinge during the movement of the mechanism. Afterward, a synchronous optimization design is proposed, in which the scale parameters are optimized to maximize the first-order natural frequency of the mechanism, combined with the constraints of a certain inscribed circle of the maximum cross-section of the workspace, the maximum stroke of the selected piezoelectric stages, and the maximum ultimate angular displacement of the flexure spherical hinge. The effectiveness of both optimization methods is verified by the comparison of the kinematic and dynamic characteristics of the original and optimized mechanism. The advantage of the progressive optimization method is that both the workspace and the driving forces are optimized and the minimum requirements for global dexterity and first-order natural frequency are ensured. The merit of the synchronous optimization method is that only the scale parameters of the mechanism need to be optimized without changing the structural parameters of the flexible spherical hinge.

Section: Synchronous Optimal Design Based On Kinematics and Dynamicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Optimal Design for 3-PSS Flexible Parallel Micromanipulator Based on Kinematic and Dynamic Characteristics

Ren

et al. 2022

Self Cite

“…They also compared and analyzed the differences in accuracy between the two kinematic models. Ren J and Li [ 24 ] proposed a class of n-4R-compliant parallel pointing mechanisms. They modeled and analyzed the compliance and kinetostatics of this mechanism based on the compliance matrix method.…”

Section: Introductionmentioning

confidence: 99%

Compliance Modeling and Kinetostatic Analysis of a Generalized 3-PSS Compliant Parallel Micro-Motion Platform

Ren,

Lan

2024

Self Cite

In order to expand the range of motion performance of the 3-PSS-compliant parallel micro-motion platform, a variable inclination angle of the mechanism’s guide rails was introduced to construct a category of generalized 3-PSS compliant parallel micro-motion platforms with distinct configurations (exhibiting different motion performances) but identical motion patterns (three translational degrees of freedom). The compliance and kinetostatics of such micro-motion platform are modeled and analyzed. Firstly, the compliance model is established based on the coordinate transformation method. Then, simplifying the micro-motion platform into a spring system, the kinetostatic model in terms of input force–output displacement is established based on the compliance model using the compliance matrix method. For practical application considerations, the kinetostatic model in terms of input displacement–output displacement is further derived based on the input force–output displacement model. Then, the correctness of the established compliance model and kinetostatic model is successively verified through finite element simulation. Finally, using two specified motion trajectories (spatial spiral trajectory and planar circular trajectory) as examples, an analysis is conducted on the influence of guide rail inclination angle variations on the kinetostatic performance of the micro-motion platform. This analysis serves as guidance for the rational design of such micro-motion platforms.

“…By applying the compliance matrix method, they developed a compliance model for the mechanism and investigated the impact of various parameters on its compliance. Ren et al [14] proposed the design of a novel n-4R-compliant parallel micro-pointing mechanism. They utilized the compliance matrix method to develop a compliance model for the mechanism and investigated how different parameters affected the compliance model.…”

Section: Introductionmentioning

confidence: 99%

“…Ren et al conducted a series of studies on compliant parallel mechanisms. In one study [14], they designed an n-4R-compliant micro-pointing mechanism and developed its kinetostatic model using the compliance matrix method. They investigated the impact of parameters on the kinetostatic mapping matrix.…”

Section: Introductionmentioning

confidence: 99%

Compliance and Kinetostatics of a Novel 2PRS-2PSS Compliant Parallel Micromanipulator: Modeling and Analysis

Ren,

Jiang

2024

Self Cite

A novel 2PRS-2PSS (P represents the prismatic pair, R represents the revolute hinge, S represents the spherical hinge) compliant parallel micromanipulator with two translational DOFs and two rotational DOFs is presented, and its compliance model and kinetostatic model are sequentially developed and analyzed. Initially, an analytical model used to describe the compliance of this micromanipulator was developed using the compliance matrix method (CMM). Through a comparison with finite element analysis, the accuracy of this analytical model is confirmed, and the influence of various dimensional and structural parameters on the compliance behavior is investigated. Subsequently, the micromanipulator is treated as an equivalent spring system, allowing for the derivation of its governing equation based on the established compliance model. From this equation, a kinetostatic model relating input forces to output displacements is derived. Validation of this model is performed by comparing analytical results with finite element simulations under specific motion trajectories, revealing a maximum relative error of 6.18%. This close agreement verifies the accuracy of the kinetostatic model. Finally, the impact of the parameters of the flexure hinge on the mapping matrix is examined to offer insights into minimizing undesired displacements, providing valuable guidance for optimizing the micromanipulator’s performance.