Abstract
The degree of freedom (DOF) and motion characteristics of a kind of compliant spherical joint were analyzed based on the screw theory, and a new design scheme for force-inversion of the compliant spherical joint was proposed in this paper. A novel type of six DOF compliant parallel mechanism (CPM) was designed based on this scheme to provide a large load capacity and achieve micrometer-level positioning accuracy. The compliance matrix of the new type of CPM was obtained through matrix transformation and was then decomposed into its generalized eigenvalues. Then, the DOF of the mechanism was numerically analyzed based on the symbolic formulation. The finite element analysis model of the compliant parallel mechanism was established. The static load analysis was used to verify the large load capacity of the mobile platform. By comparing the deformation obtained by the compliance matrix numerical method with the deformation obtained by the finite element method, the correctness of the compliance matrix and the number of the DOF of the CPM was verified.
Highlights
The motion of a complaint mechanism is caused by the elastic deformation of flexure elements when bearing loads [1,2,3,4]
In the process of judging the degree of freedom (DOF) of the compliant mechanism, the boundary between the DOF and the constraint is different from that of the rigid member, which can be directly calculated by the formula of the DOF; the DOF determination of the compliant mechanism is challenging in the analysis and synthesis for compliant mechanisms
Deshmukh et al used a pseudo-rigid-body model (PRBM) method to design a flexure-based compliant parallel (4-bar) mechanism for a linear translational motion actuated via a precision slide, compared the results with those from finite element analysis, and verified the PRBM theory through experiments [17]
Summary
The motion of a complaint mechanism is caused by the elastic deformation of flexure elements when bearing loads [1,2,3,4]. Deshmukh et al used a pseudo-rigid-body model (PRBM) method to design a flexure-based compliant parallel (4-bar) mechanism for a linear translational motion actuated via a precision slide, compared the results with those from finite element analysis, and verified the PRBM theory through experiments [17]. Su analyzed the motion characteristics of the general complaint mechanism based on screw theory and provided an important method for guiding the qualitative design of flexure mechanisms [18,19,20]. These methods proposed by Su are qualitative in process of judging the DOF and do not consider the influence of the size factor on the number of DOF. The compliance matrix of the parallel mechanism and the number of DOF were validated by comparing the deformation obtained by the compliance matrix numerical method with that from finite element simulation
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