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Research Papers

Design of a Family of Ultra-Precision Linear Motion Mechanisms

[+] Author and Article Information
Zhao Hongzhe

Robotics Institute,  Beihang University, Beijing 100191, P.R. Chinahongzhezhao@gmail.com

Bi Shusheng

Robotics Institute,  Beihang University, Beijing 100191, P.R. Chinabishusheng@gmail.com

Yu Jingjun

Robotics Institute,  Beihang University, Beijing 100191, P.R. Chinajjyu@buaa.edu.cn

Guo Jun

School of Astronautics,  Beihang University, Beijing 100191, P.R. Chinaguojunbh@buaa.edu.cn

J. Mechanisms Robotics 4(4), 041012 (Sep 17, 2012) (9 pages) doi:10.1115/1.4007491 History: Received February 29, 2012; Revised June 27, 2012; Published September 17, 2012; Online September 17, 2012

The parasitic motion of a parallel four-bar mechanism (PFBM) is undesirable for designers. In this paper, the rigid joints in PFBM are replaced with their flexural counterparts, and the center shift of rotational flexural pivots can be made full use of in order to compensate for this parasitic motion. First, three schemes are proposed to design a family of ultraprecision linear-motion mechanisms. Therefore, the generalized cross-spring pivots are utilized as joints, and six configurations are obtained. Then, for parasitic motion of these configurations, the compensation condition is presented, and the design space of geometric parameters is given. Moreover, the characteristic evaluation of these configurations is implemented, and an approach to improve their performances is further proposed. In addition, a model is developed to parametrically predict the parasitic motion and primary motion. Finally, the analytic model is verified by finite element analysis (FEA), so these linear-motion mechanisms can be employed in precision engineering.

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Copyright © 2012 by American Society of Mechanical Engineers
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Figures

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Figure 1

The compliant parallel four-bar mechanism combined by flexural building blocks: (a) leaf spring building block, (b) cartwheel flexural building block, and (c) generalized cross-spring building block

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Figure 2

Three schemes is clarified by the equivalent rigid body model of a single kinematic chain (prismatic joints in the x direction are not shown). The dotted line is the initial position, and Ll is referring to the dotted line: (a) scheme I, (b) scheme II, and (c) scheme III.

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Figure 3

The generalized cross-spring pivot: (a) nonmonolithic arrangement and (b) monolithic arrangement

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Figure 4

Deflected configuration of the generalized cross-spring pivot

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Figure 5

Six configurations of the compliant linear-motion mechanisms: (a) configuration 1, (b) configuration 2, (c) configuration 3, (d) configuration 4, (e) configuration 5, and (f) configuration 6

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Figure 6

Design space for the geometric parameters μ, a, and α: (a) for configuration 1, (b) for configuration 2, (c) for configuration 3, (d) for configuration 4, (e) for configuration 5, and (f) for configuration 6

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Figure 7

New configuration is design by using complex flexural pivot: (a) configuration 4 is constructed by primitive flexural pivot and (b) configuration 7 is constructed by primitive flexural pivot

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Figure 8

Design space for the geometric parameters of configuration 7

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Figure 9

An equivalent model for a single kinematic chain

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Figure 10

Primary motion versus parasitic motion: (a) Mech 1, (b) Mech 2, and (c) Mech 3

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Figure 11

Comparison of parasitic motion for Mech 4–Mech 6

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