Systematic Design Method and Experimental Validation of a 2-DOF Compliant Parallel Mechanism with Excellent Input and Output Decoupling Performances
The output and input coupling characteristics of the compliant parallel mechanism (CPM) bring difficulty in the motion control and challenge its high performance and operational safety. This paper presents a systematic design method for a 2-degrees-of-freedom (DOFs) CPM with excellent decoupling per...
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MDPI AG
2017-06-01
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| Series: | Applied Sciences |
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| Online Access: | http://www.mdpi.com/2076-3417/7/6/591 |
| _version_ | 1828400481919041536 |
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| author | Yao Jiang Tiemin Li Liping Wang Feifan Chen |
| author_facet | Yao Jiang Tiemin Li Liping Wang Feifan Chen |
| author_sort | Yao Jiang |
| collection | DOAJ |
| description | The output and input coupling characteristics of the compliant parallel mechanism (CPM) bring difficulty in the motion control and challenge its high performance and operational safety. This paper presents a systematic design method for a 2-degrees-of-freedom (DOFs) CPM with excellent decoupling performance. A symmetric kinematic structure can guarantee a CPM with a complete output decoupling characteristic; input coupling is reduced by resorting to a flexure-based decoupler. This work discusses the stiffness design requirement of the decoupler and proposes a compound flexure hinge as its basic structure. Analytical methods have been derived to assess the mechanical performances of the CPM in terms of input and output stiffness, motion stroke, input coupling degree, and natural frequency. The CPM’s geometric parameters were optimized to minimize the input coupling while ensuring key performance indicators at the same time. The optimized CPM’s performances were then evaluated by using a finite element analysis. Finally, a prototype was constructed and experimental validations were carried out to test the performance of the CPM and verify the effectiveness of the design method. The design procedure proposed in this paper is systematic and can be extended to design the CPMs with other types of motion. |
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| id | doaj.art-81ce9405551a4708bb74091ac08c9e9b |
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| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-12-10T09:32:13Z |
| publishDate | 2017-06-01 |
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| spelling | doaj.art-81ce9405551a4708bb74091ac08c9e9b2022-12-22T01:54:19ZengMDPI AGApplied Sciences2076-34172017-06-017659110.3390/app7060591app7060591Systematic Design Method and Experimental Validation of a 2-DOF Compliant Parallel Mechanism with Excellent Input and Output Decoupling PerformancesYao Jiang0Tiemin Li1Liping Wang2Feifan Chen3Department of Precision Instrument, Institute of Instrument Science and Technology, Tsinghua University, Beijing 10084, ChinaBeijing Key Lab of Precision/Ultra-Precision Manufacturing, Equipments and Control, Tsinghua University, Beijing 100084, ChinaBeijing Key Lab of Precision/Ultra-Precision Manufacturing, Equipments and Control, Tsinghua University, Beijing 100084, ChinaDepartment of Precision Instrument, Institute of Instrument Science and Technology, Tsinghua University, Beijing 10084, ChinaThe output and input coupling characteristics of the compliant parallel mechanism (CPM) bring difficulty in the motion control and challenge its high performance and operational safety. This paper presents a systematic design method for a 2-degrees-of-freedom (DOFs) CPM with excellent decoupling performance. A symmetric kinematic structure can guarantee a CPM with a complete output decoupling characteristic; input coupling is reduced by resorting to a flexure-based decoupler. This work discusses the stiffness design requirement of the decoupler and proposes a compound flexure hinge as its basic structure. Analytical methods have been derived to assess the mechanical performances of the CPM in terms of input and output stiffness, motion stroke, input coupling degree, and natural frequency. The CPM’s geometric parameters were optimized to minimize the input coupling while ensuring key performance indicators at the same time. The optimized CPM’s performances were then evaluated by using a finite element analysis. Finally, a prototype was constructed and experimental validations were carried out to test the performance of the CPM and verify the effectiveness of the design method. The design procedure proposed in this paper is systematic and can be extended to design the CPMs with other types of motion.http://www.mdpi.com/2076-3417/7/6/591compliant mechanisminput and output decouplingdesign method |
| spellingShingle | Yao Jiang Tiemin Li Liping Wang Feifan Chen Systematic Design Method and Experimental Validation of a 2-DOF Compliant Parallel Mechanism with Excellent Input and Output Decoupling Performances Applied Sciences compliant mechanism input and output decoupling design method |
| title | Systematic Design Method and Experimental Validation of a 2-DOF Compliant Parallel Mechanism with Excellent Input and Output Decoupling Performances |
| title_full | Systematic Design Method and Experimental Validation of a 2-DOF Compliant Parallel Mechanism with Excellent Input and Output Decoupling Performances |
| title_fullStr | Systematic Design Method and Experimental Validation of a 2-DOF Compliant Parallel Mechanism with Excellent Input and Output Decoupling Performances |
| title_full_unstemmed | Systematic Design Method and Experimental Validation of a 2-DOF Compliant Parallel Mechanism with Excellent Input and Output Decoupling Performances |
| title_short | Systematic Design Method and Experimental Validation of a 2-DOF Compliant Parallel Mechanism with Excellent Input and Output Decoupling Performances |
| title_sort | systematic design method and experimental validation of a 2 dof compliant parallel mechanism with excellent input and output decoupling performances |
| topic | compliant mechanism input and output decoupling design method |
| url | http://www.mdpi.com/2076-3417/7/6/591 |
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