Design and Analysis of a 3-DOF Planar Flexure-based Parallel Mechanism with Large Motion Range

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI:10.1109/ROBIO.2018.8665353

Bao Yang, Chi Zhang, Hongtao Yu, Xiaolu Huang, Guilin Yang, Si-lu Chen

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引用次数: 2

Abstract

This paper presents a novel 3-degree-of-freedom (DOF) planar compliant Parallel Mechanism (PCPM). This PCPM is constituted of three identical beam-based flexible chains which are PPR kinematic chains with two mutually perpendicular prismatic (P) joints and one revolute (R) joint. Blade-flexures elements are utilized with its characteristic of distributed compliance to realize a large and linear $\mathbf{XY}\boldsymbol{\theta}_{\mathbf{z}}$ travel motion about ±3mm×±3mm×±3°. Based on the compliant parallel 4-bar mechanism, two kinds of optimized guiding mechanisms with high cross-axis stiffness and one precise rotary pivot are proposed. Matrix method is implemented to establish the quantitative compliance models of each joint and then for the whole compliant mechanism by coordinate transformation. Finite element analysis is carried out to validate both the static and dynamic performance of the 3-DOF stage. The results suggest the proposed PCPM can realize a large motion, deliver small cross-axis effects and possess a high bandwidth over 45Hz.

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大运动范围三自由度平面柔性并联机构的设计与分析

提出了一种新型三自由度平面柔性并联机构(PCPM)。该PCPM由三个相同的基于梁的柔性链组成，即具有两个相互垂直的移动关节和一个旋转关节的PPR运动链。利用叶片柔性单元的分布式柔度特性，实现了$\mathbf{XY}\boldsymbol{\theta}_{\mathbf{z}}$在±3mmx±3mmx±3°左右的大线性运动。在柔性并联四杆机构的基础上，提出了两种具有高跨轴刚度和一个精密回转支点的优化导向机构。采用矩阵法建立各关节的柔度定量模型，然后通过坐标变换建立整个柔度机构的柔度定量模型。通过有限元分析验证了三自由度平台的静态和动态性能。结果表明，所提出的PCPM可以实现大的运动，产生小的交叉轴效应，并具有超过45Hz的高带宽。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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