Compliance modeling of a full 6-DOF series–parallel flexure-based Stewart platform-like micromanipulator

Abstract

With many micromanipulator designs emerging in micro and nanosystem applications, the element of compliance in the mechanisms is gaining attention. Several designs consider motions limited in a plane for high accuracy and repeatability as needed in micro/nano manipulation applications. Extending this to a full spatial configuration with coupled motions of series and parallel linkages with flexure joints of 1-degree-of-freedom (DOF) and 3-DOF needs a systematic analytical approach. One such approach for compliance analysis is presented in this article for a mechanism designed at Indian Institute of Technology Kharagpur. To validate the analytical models, finite element analysis simulations are performed with the help of the Abaqus-6.14 software package. Following the successful validation, the effect of structural parameters on the performance is presented with the help of the analytical expressions. We explore the performance of the mechanism with different dimensions of flexures of a particular type. Results indicate that the design with dissimilar dimensional parameters can give superior performance.

Dynamic modeling and optimization of mechanical drift for compliant parallel micromanipulation driven by V-shape linear ultrasonic motors

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Assisted Tea Leaf Picking: The Design and Simulation of a 6-DOF Stewart Parallel Lifting Platform

“…Currently, research on tea-picking robots mainly focuses on the optimization and design of the structure of tea leaf image recognition and positioning [6][7][8][9][10][11], picking manipulators [12][13][14][15], and end effectors [16,17]. Hualin Yang et al used a particle swarm optimization-support vector machine algorithm and deep convolutional neural network model to recognize and locate fresh tea leaves.…”

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

“…Compliance plays a crucial role in the design and analysis of compliant parallel mechanisms, as it serves as a key performance metric. The study of the kinematics and dynamics of compliance mechanisms relies on the foundation provided by the compliance model [9][10][11]. Zhang et al [12] conducted research on an integrated compliant redundant parallel mechanism for the XY micro-adjustment of photolithography projection lens optical components.…”

“…They used the compliance matrix method to establish the compliant model of the mechanism and conducted static and dynamic analyses. Mishra et al [9] examined a 6-DOF serial-parallel compliant micromanipulator built on a Stewart platform featuring a displacement amplification structure. By applying the compliance matrix method, they developed a compliance model for the mechanism and investigated the impact of various parameters on its compliance.…”