Abstract
Abstract. Since precise linear actuators of a compliant parallel manipulator suffer from their inability to tolerate the transverse motion/load in the multi-axis motion, actuation isolation should be considered in the compliant manipulator design to eliminate the transverse motion at the point of actuation. This paper presents an effective design method for constructing compliant parallel manipulators with actuation isolation, by adding the same number of actuation legs as the number of the DOF (degree of freedom) of the original mechanism. The method is demonstrated by two design case studies, one of which is quantitatively studied by analytical modelling. The modelling results confirm possible inherent issues of the proposed structure design method such as increased primary stiffness, introduced extra parasitic motions and cross-axis coupling motions.
Highlights
Compliant/flexure parallel manipulators (CPMs) have experienced rapid development over the two past decades due to their merits of eliminated backlash, friction, wear and lubrication as well as a reduced number of parts, which are very suitable for applications in precision engineering and MEMS (Smith, 2003; Howell et al, 2013)
Based on the above advances, this paper aims to propose a general method for the conceptual design of CPMs with actuation isolation, which intends to complement the existing methods
An actuation-leg addition approach has been presented in this paper for the conceptual design of any-DOF CPMs with actuation isolation
Summary
Compliant/flexure parallel manipulators (CPMs) have experienced rapid development over the two past decades due to their merits of eliminated backlash, friction, wear and lubrication as well as a reduced number of parts, which are very suitable for applications in precision engineering (macro scale) and MEMS (micro scale) (Smith, 2003; Howell et al, 2013). The design approach for actuation isolation is a constraint-based design method, which is based on the following rule of rigid-link or compliant parallel mechanisms (see Kong and Gosselin, 2007 for instance): Design rule: the addition of any number of 6-DOF legs to an original n-DOF (mostly parallel) mechanism results in a parallel mechanism with the same number of DOF and more legs. N added extra legs working together should be able to effectively control the n-DOF of the original compliant mechanism by actuating the translational joint in each extra leg This condition is the same as the validity condition of a set of n actuated joints for an n-DOF rigid-link parallel mechanism (Kong and Gosselin, 2007). This section designs two 3-DOF CPMs for demonstrating the proposed actuation leg addition method: one is the in-plane 3-DOF 2T1R (T: translational; R: rotational) CPM (Fig. 1), and the other is the out-of-plane 3-DOF 2T1R CPM (Fig. 2)
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