Stiffness influence atlases of a novel flexure hinge-based parallel mechanism with large workspace

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI:10.1109/IROS.2005.1545078

W. Dong, Z. Du, Lining Sun

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引用次数: 30

Abstract

Parallel-structure flexure mechanisms are increasingly designed due to their superior characteristics. This paper explores a novel six degree-of-freedom large workspace flexure parallel mechanism based on the concept of wide-range flexure hinge, which can attain sub-micron scale accuracy over cubic centimeter motion range. The geometric dimensions of the flexure hinges utilized in this mechanism as passive joints will influence the system stiffness directly and other properties indirectly such as the workspace, load-carrying capacity, and driving-load capacity etc. In this paper, the stiffness model of individual flexure hinge is established firstly, and then the stiffness of the whole flexure mechanism is modeled via assembling stiffness matrices and formulating constraint equations. Based on the system stiffness model of the whole mechanism, the stiffness atlases' analysis is presented which provides theoretical principles for designing and developing this kind of flexure parallel mechanism in further. Finally, a 6-PSS large workspace flexure parallel mechanism prototype is proposed according to the analysis results, which will be utilized in the precision positioning.

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一种新型大工作空间柔性铰链并联机构的刚度影响图谱

并联结构柔性机构由于其优越的特性而越来越多地被设计出来。基于大范围柔性铰链的概念，设计了一种新型六自由度大工作空间柔性并联机构，该机构在立方厘米运动范围内可达到亚微米级精度。作为被动关节的柔性铰链的几何尺寸将直接影响系统的刚度，并间接影响系统的工作空间、承载能力、驱动载荷能力等性能。本文首先建立了单个柔性铰链的刚度模型，然后通过装配刚度矩阵和建立约束方程对整个柔性机构的刚度进行建模。在整个机构的系统刚度模型的基础上，给出了刚度图谱分析，为该类柔性并联机构的进一步设计和开发提供了理论依据。最后，根据分析结果提出了一种6-PSS大工作空间柔性并联机构原型，并将其用于精密定位。

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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2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

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