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

Abstract

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).

Topology Optimization of 3-DOF Peristaltic Structure Robot Based on Vector Continuous Mapping Matrix

“…Gao and Zhang [6] designed a novel three-DOF compliant parallel mechanism and its performance characterization is analyzed which affects the application potential. Treatments of the characterization and design of compliant parallel mechanisms may also be found in literatures [7][8][9]. By using the flexure hinges instead of the conventional rigid joints, although this kind of structure composed method has spatial multidimensional motion characteristics, the whole stiffness is decent obviously.…”

Conceptual designs of multi-degree of freedom compliant parallel manipulators composed of wire-beam based compliant mechanisms

“…It should be noted that the stiffness center overlapping approach [57,62] can be further used to reduce the parasitic rotations of the XYZ motion stage instead of the use of the fully symmetrical design for the passive WBBCMs. It deserves mentioning again that the above XYZ CPMs should be chosen based on the actual application requirements.…”

Design and analysis of a 3-DOF planar micromanipulation stage with large rotational displacement for micromanipulation system

“…The motion range of the micro manipulation stage is typically within several microns, for the reason of limited rotational scope of flexure hinges and limited stroke of piezoelectric actuators which are widely utilized in all kinds of flexure-based stages (Polit and Dong, 2011). For the purpose of getting better performance of the micromanipulation stage, more and more optimized flexure hinges with outstanding characteristics, such as more accurate in position and large motion scope, are designed by researchers (Acer and Sabanovic, 2013;Yi et al, 2003;Qin et al, 2013;Hao and Li, 2014).…”