0
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.

2

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.

FIGURES IN THIS ARTICLE
<>
Copyright © 2012 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

A kinematically decoupled 3-P PPR TPM

Grahic Jump Location
Figure 2

Spatial double four-beam module

Grahic Jump Location
Figure 3

Compliant P joint composed of spatial modules

Grahic Jump Location
Figure 4

A large-range modular XYZ CPM using identical spatial modules

Grahic Jump Location
Figure 5

Displacement illustrations in FEA

Grahic Jump Location
Figure 6

Primary motion along the X-axis

Grahic Jump Location
Figure 7

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

Grahic Jump Location
Figure 8

Lost motion percentage along the X-axis

Grahic Jump Location
Figure 9

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

Grahic Jump Location
Figure 10

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

Grahic Jump Location
Figure 11

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

Grahic Jump Location
Figure 12

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

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In