A decoupled 6-dof compliant parallel mechanism with optimized dynamic characteristics using cellular structure
This paper presents a novel six degrees-of-freedom (DOF) compliant parallel mechanism (CPM) with decoupled output motions, large workspace of ≥6 mm for translations and ≥12◦ for rotations, optimized stiffness, and dynamic properties. The working range and the motion decoupling capability of the six-...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2021
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/146872 |
| _version_ | 1811678827735154688 |
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| author | Pham, Minh Tuan Yeo, Song Huat Teo, Tat Joo Wang, Pan Nai, Sharon Mui Ling |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Pham, Minh Tuan Yeo, Song Huat Teo, Tat Joo Wang, Pan Nai, Sharon Mui Ling |
| author_sort | Pham, Minh Tuan |
| collection | NTU |
| description | This paper presents a novel six degrees-of-freedom (DOF) compliant parallel mechanism (CPM) with decoupled output motions, large workspace of ≥6 mm for translations and ≥12◦ for rotations, optimized stiffness, and dynamic properties. The working range and the motion decoupling capability of the six-DOF CPM are experimentally verified, and the mechanical properties are shown to be predictable. The proposed CPM is synthesized by applying the beam-based structural optimization method together with the criteria for achieving motion decoupling capability. In order to improve the dynamic behaviors for the CPM, cellular structure is used to design its end effector. The obtained results show that the dynamic performance of the CPM with cellular end effector is significantly enhanced with the increase of 33% of the first resonance frequency as compared to the initial design. Performances of the three-dimensional (3D)-printed prototype are experimentally evaluated in terms of mechanical characteristics and decoupled motions. The obtained results show that the actual stiffness and dynamic properties agree with the predictions with the highest deviation of ~10.5%. The motion decoupling capability of the CPM is also demonstrated since almost input energy (>99.5%) generates the desired output motions while the energy causes parasitic motions is only minor (<0.5%). |
| first_indexed | 2024-10-01T02:59:27Z |
| format | Journal Article |
| id | ntu-10356/146872 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T02:59:27Z |
| publishDate | 2021 |
| record_format | dspace |
| spelling | ntu-10356/1468722023-03-04T17:14:00Z A decoupled 6-dof compliant parallel mechanism with optimized dynamic characteristics using cellular structure Pham, Minh Tuan Yeo, Song Huat Teo, Tat Joo Wang, Pan Nai, Sharon Mui Ling School of Mechanical and Aerospace Engineering Engineering::Mechanical engineering Compliant Mechanism Flexure-based Mechanism This paper presents a novel six degrees-of-freedom (DOF) compliant parallel mechanism (CPM) with decoupled output motions, large workspace of ≥6 mm for translations and ≥12◦ for rotations, optimized stiffness, and dynamic properties. The working range and the motion decoupling capability of the six-DOF CPM are experimentally verified, and the mechanical properties are shown to be predictable. The proposed CPM is synthesized by applying the beam-based structural optimization method together with the criteria for achieving motion decoupling capability. In order to improve the dynamic behaviors for the CPM, cellular structure is used to design its end effector. The obtained results show that the dynamic performance of the CPM with cellular end effector is significantly enhanced with the increase of 33% of the first resonance frequency as compared to the initial design. Performances of the three-dimensional (3D)-printed prototype are experimentally evaluated in terms of mechanical characteristics and decoupled motions. The obtained results show that the actual stiffness and dynamic properties agree with the predictions with the highest deviation of ~10.5%. The motion decoupling capability of the CPM is also demonstrated since almost input energy (>99.5%) generates the desired output motions while the energy causes parasitic motions is only minor (<0.5%). Published version 2021-03-12T04:48:11Z 2021-03-12T04:48:11Z 2021 Journal Article Pham, M. T., Yeo, S. H., Teo, T. J., Wang, P. & Nai, S. M. L. (2021). A decoupled 6-dof compliant parallel mechanism with optimized dynamic characteristics using cellular structure. Machines, 9(1). https://dx.doi.org/10.3390/machines9010005 2075-1702 https://hdl.handle.net/10356/146872 10.3390/machines9010005 2-s2.0-85099474746 1 9 en Machines © 2021 The Author(s). Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). application/pdf |
| spellingShingle | Engineering::Mechanical engineering Compliant Mechanism Flexure-based Mechanism Pham, Minh Tuan Yeo, Song Huat Teo, Tat Joo Wang, Pan Nai, Sharon Mui Ling A decoupled 6-dof compliant parallel mechanism with optimized dynamic characteristics using cellular structure |
| title | A decoupled 6-dof compliant parallel mechanism with optimized dynamic characteristics using cellular structure |
| title_full | A decoupled 6-dof compliant parallel mechanism with optimized dynamic characteristics using cellular structure |
| title_fullStr | A decoupled 6-dof compliant parallel mechanism with optimized dynamic characteristics using cellular structure |
| title_full_unstemmed | A decoupled 6-dof compliant parallel mechanism with optimized dynamic characteristics using cellular structure |
| title_short | A decoupled 6-dof compliant parallel mechanism with optimized dynamic characteristics using cellular structure |
| title_sort | decoupled 6 dof compliant parallel mechanism with optimized dynamic characteristics using cellular structure |
| topic | Engineering::Mechanical engineering Compliant Mechanism Flexure-based Mechanism |
| url | https://hdl.handle.net/10356/146872 |
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