Optimal Design and Tracking Control of a Superelastic Flexure Hinge Based 3-PRR Compliant Parallel Manipulator

Yang, Miao; Zhang, Chi; Yang, Guilin; Dong, Wei

doi:10.1109/access.2019.2954842

Cited by 4 publications

(4 citation statements)

References 35 publications

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“…In [ 17 ], an I-shaped flexible hinge was used to decouple the motion of a three-degree-of-freedom flexible mechanism in the XYZ direction, achieving approximately 2 mm of travel in each direction. In [ 18 ], a flexible hinge made of a shape-memory alloy with optimized notch shapes was presented, which provides ±5° motion within a circular workspace with a radius of 10 mm. In [ 19 ], a six-degree-of-freedom macro–micro compliant precision motion platform was designed.…”

Section: Introductionmentioning

confidence: 99%

Long-Travel 3-PRR Parallel Platform Based on Biomimetic Variable-Diameter Helical Flexible Hinges

Dong,

Liu,

et al. 2024

Micromachines

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Technological advancements across various sectors are driving a growing demand for large-scale three-degree-of-freedom micro–nano positioning platforms, with substantial pressure to reduce footprints while enhancing motion range and accuracy. This study proposes a three-prismatic-revolute-revolute (3-PRR) parallel mechanism based on biomimetic variable-diameter helical flexible hinges. The resulting platform achieves high-precision planar motion along the X- and Y-axes, a centimeter-level translation range, and a rotational range of 35° around the Z-axis by integrating six variable-diameter flexible helical hinges that serve as rotational joints when actuated by three miniature linear servo drives. The drives are directly connected to the moving platform, thereby enhancing the compactness of the system. A kinematic model of the motion platform was established, and the accuracy and effectiveness of the forward and inverse kinematic solutions were validated using finite element analysis. Finally, a prototype of the 3-PRR parallel platform was fabricated, and its kinematic performance was experimentally verified visually for improved endpoint displacement detection. The assessment results revealed a maximum displacement error of 9.5% and confirmed that, judging by its favorable workspace-to-footprint ratio, the final system is significantly more compact than those reported in the literature.

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Section: Introductionmentioning

confidence: 99%

Long-Travel 3-PRR Parallel Platform Based on Biomimetic Variable-Diameter Helical Flexible Hinges

Dong,

Liu,

et al. 2024

Micromachines

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“…A three-PRR flexure-based compliant manipulator with high precision was developed. 25 It could provide large workspace by using a special structure. An ellipse-parabola notch flexure hinge was proposed and designed.…”

Section: Introductionmentioning

confidence: 99%

Input coupling modeling method for a three-PRR flexure-based compliant stage

Qiao

Gao

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper presents the input coupling modeling method for a three-PRR flexure-based compliant stage. The input coupling modeling for planar compliant mechanisms is first established. The kinematic structure of a three-PRR compliant stage is then designed, and its input coupling is derived by using the proposed method. Subsequently, the validation and analysis are carried out by using finite element method (FEM). The relationships between two main parameters and the input coupling rate of the three-PRR compliant stage are discussed, and the decoupling region is then determined. Finally, its geometrical parameters are optimized, and the workspace calculated by the analytical method is compared with that obtained from FEM. It not only provides a new input coupling modeling method for flexure-based compliant mechanisms, but also provides a reference for the design of three-PRR mechanisms.

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“…Typically, there are two types of CMMP: (i) serial structural CMMP and (ii) parallel structural CMMP (Li et al, 2013). Parallel structure is preferred over serial structure due to advantages in terms of accuracy, rigidity, and load capability (Yang et al, 2019). Given difficulties in design and fabrication, most of the parallel CMMPs are limited to the planar degree of freedom (DoF) configuration.…”

Section: Introductionmentioning

confidence: 99%

Design and control of a novel electromagnetic actuated 3-DoFs micropositioner

Xiao

et al. 2021

Microsyst Technol

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In this paper, a novel electromagnetic micropositioner is designed from an orthogonal 3-P(4S) parallel mechanism through the substitution method and modular design techniques. Preliminary prototype experiments show that the micropositioner possesses an excellent decoupling performance. Thus an independent control strategy is carried out for the motion control of the micropositioner. An RBF neural networks based adaptive backstepping terminal sliding mode controller is designed according to the nonlinearity characteristics of the actuator. Parameters of the system are identified with a genetic algorithm. Finally, the performances of the micropositioner and the developed control strategy are verified. Experimental results demonstrate that satisfactory performances can be achieved.

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Optimal Design and Tracking Control of a Superelastic Flexure Hinge Based 3-PRR Compliant Parallel Manipulator

Cited by 4 publications

References 35 publications

Long-Travel 3-PRR Parallel Platform Based on Biomimetic Variable-Diameter Helical Flexible Hinges

Long-Travel 3-PRR Parallel Platform Based on Biomimetic Variable-Diameter Helical Flexible Hinges

Input coupling modeling method for a three-PRR flexure-based compliant stage

Design and control of a novel electromagnetic actuated 3-DoFs micropositioner

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