Design of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering Mirrors
Laser beams can fluctuate in four directions, which requires active compensation by a fast steering mirror (FSM) motion system. This paper deals with the design of four-degrees-of-freedom (DoF) compliant parallel manipulators, for responding to the requirements of the FSM. In order to simplify high-...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-11-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/10/11/292 |
| _version_ | 1797511679650562048 |
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| author | Guangbo Hao Haiyang Li Yu-Hao Chang Chien-Sheng Liu |
| author_facet | Guangbo Hao Haiyang Li Yu-Hao Chang Chien-Sheng Liu |
| author_sort | Guangbo Hao |
| collection | DOAJ |
| description | Laser beams can fluctuate in four directions, which requires active compensation by a fast steering mirror (FSM) motion system. This paper deals with the design of four-degrees-of-freedom (DoF) compliant parallel manipulators, for responding to the requirements of the FSM. In order to simplify high-precision control in parallel manipulators, maximum kinematic decoupling is always desired. A constraint map method is used to propose the four required DoF with the consideration of maximum kinematic decoupling. A specific compliant mechanism is presented based on the constraint map, and its kinematics is estimated analytically. Finite element analysis demonstrates the desired qualitative motion and provides some initial quantitative analysis. A normalization-based compliance matrix is finally derived to verify and demonstrate the mobility of the system clearly. In a case study, the results of normalization-based compliance matrix modelling show that the diagonal entries corresponding to the four DoF directions are about 10 times larger than those corresponding to the two-constraint directions, validating the desired mobility. |
| first_indexed | 2024-03-10T05:48:38Z |
| format | Article |
| id | doaj.art-fd48127ccd6a4518a8b0545cda975835 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-10T05:48:38Z |
| publishDate | 2021-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-fd48127ccd6a4518a8b0545cda9758352023-11-22T21:57:12ZengMDPI AGActuators2076-08252021-11-01101129210.3390/act10110292Design of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering MirrorsGuangbo Hao0Haiyang Li1Yu-Hao Chang2Chien-Sheng Liu3School of Engineering, University College Cork, T12 K8AF Cork, IrelandSchool of Automotive Engineering, Dalian University of Technology, Dalian 116024, ChinaDepartment of Mechanical Engineering, National Chung Cheng University, Chiayi 621301, TaiwanDepartment of Mechanical Engineering, National Cheng Kung University, Tainan City 70101, TaiwanLaser beams can fluctuate in four directions, which requires active compensation by a fast steering mirror (FSM) motion system. This paper deals with the design of four-degrees-of-freedom (DoF) compliant parallel manipulators, for responding to the requirements of the FSM. In order to simplify high-precision control in parallel manipulators, maximum kinematic decoupling is always desired. A constraint map method is used to propose the four required DoF with the consideration of maximum kinematic decoupling. A specific compliant mechanism is presented based on the constraint map, and its kinematics is estimated analytically. Finite element analysis demonstrates the desired qualitative motion and provides some initial quantitative analysis. A normalization-based compliance matrix is finally derived to verify and demonstrate the mobility of the system clearly. In a case study, the results of normalization-based compliance matrix modelling show that the diagonal entries corresponding to the four DoF directions are about 10 times larger than those corresponding to the two-constraint directions, validating the desired mobility.https://www.mdpi.com/2076-0825/10/11/292fast steering mirrorcompliant parallel manipulatorconstraint map4-DoFdecoupling |
| spellingShingle | Guangbo Hao Haiyang Li Yu-Hao Chang Chien-Sheng Liu Design of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering Mirrors Actuators fast steering mirror compliant parallel manipulator constraint map 4-DoF decoupling |
| title | Design of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering Mirrors |
| title_full | Design of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering Mirrors |
| title_fullStr | Design of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering Mirrors |
| title_full_unstemmed | Design of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering Mirrors |
| title_short | Design of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering Mirrors |
| title_sort | design of four dof compliant parallel manipulators considering maximum kinematic decoupling for fast steering mirrors |
| topic | fast steering mirror compliant parallel manipulator constraint map 4-DoF decoupling |
| url | https://www.mdpi.com/2076-0825/10/11/292 |
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