Research Papers

Design and Modeling of a Large-Range Modular XYZ Compliant Parallel Manipulator Using Identical Spatial Modules

[+] Author and Article Information
Guangbo Hao

Department of Electrical and Electronic Engineering, School of Engineering,  University College Cork, Cork, IrelandG.Hao@ucc.ie

Xianwen Kong2

School of Engineering and Physical Sciences,  Heriot-Watt University, Edinburgh EH14 4AS, UKX.Kong@hw.ac.uk

Kinematostatic decoupling [7] means that one primary output translational displacement is only affected by the actuation force along the same direction, which describes the relationship between the input force and output motion. This decoupling is also called the minimal cross-axis coupling/cross-axis decoupling in CPMs.

Planar compliant joints/modules refer to a class of compliant modules, in which the size in at least one dimension is much smaller than those in the other dimensions. Unlike a planar compliant joint/module, a spatial compliant joint/module has compatible size in three dimensions.


Corresponding author.

J. Mechanisms Robotics 4(2), 021009 (Apr 25, 2012) (10 pages) doi:10.1115/1.4006188 History: Received August 16, 2010; Revised February 06, 2012; Published April 25, 2012; Online April 25, 2012

To meet the need for large-range high-precision motion stages, a design methodology of XYZ compliant parallel manipulators (CPMs) is introduced at first. A spatial double four-beam module and a compliant P (prismatic) joint, composed of two spatial double four-beam modules, are then proposed. Starting from a 3-P PPR (R: revolute) translational parallel manipulator, a large-range modular XYZ CPM with identical spatial modules is constructed using the proposed design approach. Normalized analytical models for the large-range modular XYZ CPM are further presented. As a case study, a modular XYZ CPM with a motion range of 10 mm × 10 mm × 10 mm along the positive X-, Y-, and Z-axes is presented in detail, covering the geometrical parameter determination, performance characteristics analysis, buckling check, and actuation force check. The analytical models are compared with the finite element analysis (FEA) models. Finally, the dynamics consideration, manufacturability, and merits are discussed. It is shown that the proposed large-range modular XYZ CPM has the following main merits compared with existing designs: (1) large range of motion up to 20 mm × 20 mm × 20 mm and (2) reduced number of design parameters through the use of identical spatial modules, although the manufacturability is a challenging issue.

Copyright © 2012 by American Society of Mechanical Engineers
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Figure 1

A kinematically decoupled 3-P PPR TPM

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Figure 2

Spatial double four-beam module

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Figure 3

Compliant P joint composed of spatial modules

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Figure 4

A large-range modular XYZ CPM using identical spatial modules

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Figure 5

Displacement illustrations in FEA

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Figure 6

Primary motion along the X-axis

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Figure 7

Cross-axis coupling: Y-displacement affected by Fax−x

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Figure 8

Lost motion percentage along the X-axis

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Figure 9

Input-coupling of the Y- or Z-actuator caused by Fax−x

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Figure 10

Parasitic rotation about the X-axis caused by Fax−x

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Figure 11

Parasitic rotation about the Y-axis caused by Fax−x

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Figure 12

Parasitic rotation about the Z-axis caused by Fax−x




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