Conceptual designs of multi-degree of freedom compliant parallel manipulators composed of wire-beam based compliant mechanisms

This paper proposes conceptual designs of multi-degree(s) of freedom (DOF) compliant parallel manipulators (CPMs) including 3-DOF translational CPMs and 6-DOF CPMs using a building block based pseudo-rigid-body-model (PRBM) approach. The proposed multi-DOF CPMs are composed of wire-beam based compliant mechanisms (WBBCMs) as distributed-compliance compliant building blocks (CBBs). Firstly, a comprehensive literature review for the design approaches of compliant mechanisms is conducted, and a building block based PRBM is then presented, which replaces the traditional kinematic sub-chain with an appropriate multi-DOF CBB. In order to obtain the decoupled 3-DOF translational CPMs (XYZ CPMs), two classes of kinematically decoupled 3-PPPR (P: prismatic joint, R: revolute joint) translational parallel mechanisms (TPMs) and 3-PPPRR TPMs are identified based on the type synthesis of rigid-body parallel mechanisms, and WBBCMs as the associated CBBs are further designed. Via replacing the traditional actuated P joint and the traditional passive PPR/PPRR sub-chain in each leg of the 3-DOF TPM with the counterpart CBBs (i.e. WBBCMs), a number of decoupled XYZ CPMs are obtained by appropriate arrangements. In order to obtain the decoupled 6-DOF CPMs, an orthogonally-arranged decoupled 6-PSS (S: spherical joint) parallel mechanism is first identified, and then two example 6-DOF CPMs are proposed by the building block based PRBM method. It is shown that, among these designs, two types of monolithic XYZ CPM designs with extended life have been presented.

[1]  Layton Carter Hale,et al.  Principles and Techniques for Designing Precision Machines , 2013 .

[2]  Jonathan B. Hopkins,et al.  Synthesis of multi-degree of freedom, parallel flexure system concepts via freedom and constraint topology (FACT). Part II: Practice , 2010 .

[3]  Shorya Awtar,et al.  An XYZ Parallel Kinematic Flexure Mechanism With Geometrically Decoupled Degrees of Freedom , 2011 .

[4]  Qingsong Xu,et al.  A Totally Decoupled Piezo-Driven XYZ Flexure Parallel Micropositioning Stage for Micro/Nanomanipulation , 2011, IEEE Transactions on Automation Science and Engineering.

[5]  Bijan Shirinzadeh,et al.  A new design of piezoelectric driven compliant-based microgripper for micromanipulation , 2009 .

[6]  Nader Jalili,et al.  Coupled Flexural-Torsional Nonlinear Vibrations of Piezoelectrically Actuated Microcantilevers With Application to Friction Force Microscopy , 2008 .

[7]  Kwun-Lon Ting,et al.  Geometric Modeling and Synthesis of Spatial Multimaterial Compliant Mechanisms and Structures Using Three-Dimensional Multilayer Wide Curves , 2009 .

[8]  Judy M. Vance,et al.  A Screw Theory Approach for the Conceptual Design of Flexible Joints for Compliant Mechanisms , 2009 .

[9]  Jian Li,et al.  An Instrument to Measure the Stiffness of Mems Mechanisms , 2002 .

[10]  Charles Kim,et al.  A Building Block Approach to the Conceptual Synthesis of Compliant Mechanisms Utilizing Compliance and Stiffness Ellipsoids , 2008 .

[11]  Xianwen Kong,et al.  Type Synthesis of Linear Translational Parallel Manipulators , 2002 .

[12]  Peter Eberhard,et al.  DYNAMIC ANALYSIS OF FLEXIBLE MANIPULATORS, A LITERATURE REVIEW , 2006 .

[13]  Xianwen Kong,et al.  Type Synthesis of Parallel Mechanisms , 2010, Springer Tracts in Advanced Robotics.

[14]  Shorya Awtar,et al.  Design of a Large Range XY Nanopositioning System , 2010 .

[15]  Kwun-Lon Ting,et al.  Geometric Modeling and Optimization of Multimaterial Compliant Mechanisms Using Multilayer Wide Curves , 2008 .

[16]  Qingsong Xu,et al.  Analytical modeling, optimization and testing of a compound bridge-type compliant displacement amplifier , 2011 .

[17]  Shorya Awtar,et al.  Performance Tradeoffs Posed by Moving Magnet Actuators in Flexure-Based Nanopositioning , 2014, IEEE/ASME Transactions on Mechatronics.

[18]  Guangbo Hao,et al.  Towards the design of monolithic decoupled XYZ compliant parallel mechanisms for multi-function applications , 2013 .

[19]  Stephane Regnier,et al.  Electrostatic actuated micro gripper using an amplification mechanism , 2004 .

[20]  Charles Kim.  Design Strategies for the Topology Synthesis of Dual Input-Single Output Compliant Mechanisms , 2009 .

[21]  Hai-Jun Su,et al.  Realizing Orthogonal Motions With Wire Flexures Connected in Parallel , 2010 .

[22]  Stephen M. Schultz,et al.  Plastic latching accelerometer based on bistable compliant mechanisms , 2007 .

[23]  Guangbo Hao,et al.  Design of 3-legged XYZ compliant parallel manipulators with minimised parasitic rotations , 2014, Robotica.

[24]  Feng Gao,et al.  Relationship Among Input-Force, Payload, Stiffness, and Displacement of a 6-DOF Perpendicular Parallel Micromanipulator , 2010 .

[25]  Jingyan Dong,et al.  Design of high-bandwidth high-precision flexure-based nanopositioning modules , 2009 .

[26]  Feng Gao,et al.  Relationship among input-force, payload, stiffness and displacement of a 3-DOF perpendicular parallel micro-manipulator , 2010 .

[27]  Marco Carricato,et al.  Singularity-Free Fully-Isotropic Translational Parallel Mechanisms , 2002, Int. J. Robotics Res..

[28]  C. Yue,et al.  Type synthesis of freedom and constraint elements for design of flexure mechanisms , 2013 .

[29]  Zhen Gao,et al.  Design, analysis and fabrication of a multidimensional acceleration sensor based on fully decoupled compliant parallel mechanism , 2010 .

[30]  Hai-Jun Su,et al.  Type synthesis of freedom and constraint elements for design of flexure mechanisms , 2013 .

[31]  Charles Kim,et al.  Curve Decomposition for Large Deflection Analysis of Fixed-Guided Beams With Application to Statically Balanced Compliant Mechanisms , 2012 .

[32]  S Kota,et al.  Design and application of compliant mechanisms for surgical tools. , 2005, Journal of biomechanical engineering.

[33]  Jonathan B. Hopkins,et al.  Corrigendum to Synthesis of multi-degree of freedom, parallel flexure system concepts via Freedom and Constraint Topology (FACT)—Part I: Principles , 2010 .

[34]  Larry L. Howell,et al.  Simulation of a carbon nanotube-based compliant parallel-guiding mechanism: A nanomechanical building block , 2006 .

[35]  Larry L. Howell,et al.  A Pseudo-Rigid-Body Model for Large Deflections of Fixed-Clamped Carbon Nanotubes , 2010 .

[36]  Qingsong Xu,et al.  Design and Optimization of an XYZ Parallel Micromanipulator with Flexure Hinges , 2009, J. Intell. Robotic Syst..

[37]  Qingsong Xu,et al.  Design and Analysis of a Totally Decoupled Flexure-Based XY Parallel Micromanipulator , 2009, IEEE Transactions on Robotics.

[38]  Shorya Awtar,et al.  A Closed-Form Nonlinear Model for the Constraint Characteristics of Symmetric Spatial Beams , 2013 .

[39]  Sridhar Kota,et al.  Topology and Dimensional Synthesis of Compliant Mechanisms Using Discrete Optimization , 2006 .

[40]  Hai-Jun Su,et al.  Screw Theory Based Methodology for the Deterministic Type Synthesis of Flexure Mechanisms , 2011 .

[41]  Jin Qiu,et al.  An electrothermally-actuated bistable MEMS relay for power applications , 2003 .

[42]  Javad Dargahi,et al.  Design and development of a new piezoelectric linear Inchworm actuator , 2005 .

[43]  I-Ming Chen,et al.  Micromanipulation System Design Based on Selective Actuation Mechanisms , 2006, Int. J. Robotics Res..

[45]  Guangbo Hao,et al.  A 2-legged XY parallel flexure motion stage with minimised parasitic rotation , 2014 .

[46]  Shorya Awtar,et al.  Constraint-based design of parallel kinematic XY flexure mechanisms , 2007 .

[47]  Xianwen Kong,et al.  Design and Modeling of a Large-Range Modular XYZ Compliant Parallel Manipulator Using Identical Spatial Modules , 2012 .

[48]  Martin L. Culpepper,et al.  Design of a six-axis micro-scale nanopositioner—μHexFlex , 2006 .

[49]  G. Gogu.  Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations , 2004 .

[50]  Madan M. Gupta,et al.  A New Compliant Mechanical Amplifier Based on a Symmetric Five-Bar Topology , 2008 .

[51]  Hai-Jun Su,et al.  ON LINE SCREW SYSTEMS AND THEIR APPLICATION TO FLEXURE SYNTHESIS , 2010 .

[52]  Sridhar Kota,et al.  Design of Compliant Mechanisms for Morphing Structural Shapes , 2003 .

[53]  Silvestro Micera,et al.  Towards a force-controlled microgripper for assembling biomedical microdevices , 2000 .

[54]  Youngseok Oh,et al.  Synthesis of Multistable Equilibrium Compliant Mechanisms. , 2008 .

[55]  D. Gweon,et al.  A new nano-accuracy AFM system for minimizing Abbe errors and the evaluation of its measuring uncertainty. , 2007, Ultramicroscopy.

[56]  G. K. Ananthasuresh,et al.  Evaluation and Design of Displacement-Amplifying Compliant Mechanisms for Sensor Applications , 2008 .

[57]  Xianwen Kong,et al.  A nonlinear analysis of spatial compliant parallel modules: Multi-beam modules , 2011 .

[58]  Clément Gosselin,et al.  On the Design of a 3-PRRR Spatial Parallel Compliant Mechanism , 2004 .