Modeling and design of flexure jointed Stewart platforms for control purposes

McInroy, J.E.

doi:10.1109/3516.990892

Cited by 61 publications

(36 citation statements)

References 16 publications

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“…Apart from this structure, the list of designs in the bibliography is enormous and different approaches can be found depending on the final application. Just considering the number of degrees of freedom, we can find devices with 1 degrees of freedom [11,12], with 2 degrees of freedom [15], with 3 degrees of freedom [10,14], with 6 degrees of freedom [4,16] or other combinations depending on specific applications.…”

Section: Introductionmentioning

confidence: 99%

Model-based mechanical and control design of a three-axis platform

Rodriguez-Fortun¹,

Orus²,

Alfonso³

et al. 2012

Mechatronics

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a b s t r a c tIn recent times, the interest from scientific and industrial community for the micrometric range has observed an important growth. The advances in microelectronics or the research on microbiology are just two examples of fields requiring technologies capable of assuring accurate displacements in that range. The present work focuses on the mechanical and control design of a micrometer range positioning and tracking platform using mathematical models. In a first phase, these models permit to identify the relationship between the dynamic performance of the structure and the mechanical properties of the elements that compose it. At the very beginning of the design, this information is used for the development of the different parts of the platform. Afterwards, once an initial design is finished and 3D models are available, the design is refined using finite element tools. In parallel to the mechanical design, the knowledge of the system embodied in the mathematical model is profited in the design of a control strategy for tracking and positioning. The proposed control strategy combines a linear controller based on differential flatness with a hysteresis compensator for correcting this nonlinear effect of the piezoelectric actuators. In the present paper, the mathematical derivation of the system model, its application to the design and validation of the platform and the final closed loop experimental evaluation are described.

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Section: Introductionmentioning

confidence: 99%

Model-based mechanical and control design of a three-axis platform

Rodriguez-Fortun¹,

Orus²,

Alfonso³

et al. 2012

Mechatronics

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“…Thus, high resonant frequency is preferred for the mechanism design of the positioning stage. To overcome the shortcomings of serial stages, XYZ stage with parallel-kinematics architectures [4] is a wise choice. For example, several flexure hinge-based parallel stages with orthogonal structures are presented in [5], [6], an XYZ micromanipulator based on the Delta-type parallel robot is proposed in [7], and a novel 3-DOF parallel-kinematics stage is described in [8] to generate the three axial translations.…”

Section: Introductionmentioning

confidence: 99%

Novel design of a totally decoupled flexure-based XYZ parallel micropositioning stage

2010

2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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This paper presents the design process of a totally decoupled flexure-based XYZ compliant parallel-kinematics micropositioning stage. The uniqueness of the proposed XYZ stage lies in that it consists of three monolithic limbs and has both input and output decoupling properties. The output decoupling is allowed by the employment of a proposed 2-D compound parallelogram flexure, and the input decoupling is implemented by actuation isolation which is enabled by the double compound parallelogram flexures with large transverse stiffness. By modeling each flexure hinge as a 2-DOF compliant joint, analytical models for the amplification ratio and input stiffness of the XYZ stage are established, which are validated by finite element analysis performed with ANSYS. The presented results are useful for the development of a new XYZ micropositioning stage for the micro-/nanomanipulation applications.

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Section: Introductionmentioning

confidence: 99%

“…Several previous studies have proposed methods and decoupling control strategies for parallel robots [7][8][9]. Method proposed by [8] combines static input, output transformations with hexapod geometric design. Chen and McInroy, [9] provided a modified method that loosened and removed severe constraints of prior decoupling methods on the allowable geometry and payload, thus, expanding the applications.…”

Section: Introductionmentioning

confidence: 99%

Modal space decoupled controller for hydraulically driven six degree of freedom parallel robot

Ogbobe

Jiang

et al. 2010

2010 2nd International Conference on Mechanical and Electronics Engineering

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This paper proposes a modal space decoupling controller for the highly coupled six degrees of freedom parallel robot. It is based on singular value decomposition to the properties of the joint space inverse mass matrix, using an orthogonal unitary matrix. The method moreover, maps the control and feedback variables from the joint space to the decoupled modal space. Using this method, the highly coupled six-input-six-output dynamics of the parallel robot was transformed into six independent single inputs, single output one degree of freedom hydraulically driven mechanical system.The simulation result shows that the controller improved the trajectory performance more than the conventional PID controller in all DOF and eliminated the dynamic coupling effects.

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Modeling and design of flexure jointed Stewart platforms for control purposes

Cited by 61 publications

References 16 publications

Model-based mechanical and control design of a three-axis platform

Model-based mechanical and control design of a three-axis platform

Novel design of a totally decoupled flexure-based XYZ parallel micropositioning stage

Modal space decoupled controller for hydraulically driven six degree of freedom parallel robot

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