Research Papers

Type Synthesis of Three-Degree-of-Freedom Translational Compliant Parallel Mechanisms

[+] Author and Article Information
Cong Yue

Department of Mechanical Engineering,
University of Maryland–Baltimore County,
Baltimore, MD 21250
e-mail: congyue1@umbc.edu

Ying Zhang

School of Automation,
Beijing University of Posts
and Telecommuncations,
Beijing 100876, China
e-mail: graduate_yingzh@bupt.edu.cn

Hai-Jun Su

Department of Mechanical
and Aerospace Engineering,
The Ohio State University,
Columbus, OH 43210
e-mail: su.298@osu.edu

Xianwen Kong

School of Engineering and Physical Sciences,
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: X.Kong@hw.ac.uk

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received January 18, 2014; final manuscript received July 7, 2014; published online December 4, 2014. Assoc. Editor: Anupam Saxena.

J. Mechanisms Robotics 7(3), 031012 (Aug 01, 2015) (8 pages) Paper No: JMR-14-1014; doi: 10.1115/1.4028758 History: Received January 18, 2014; Revised July 07, 2014; Online December 04, 2014

In this paper, we apply screw theory to type synthesis of compliant parallel mechanisms (PMs) with translational degree-of-freedom (DOF). Compliant PMs are formed by a moving platform supported by three or more limbs each of which is a serial chain of flexure joints and rigid bodies. They achieve movement through the deformation of flexure joints and have been widely used in precision machinery. As an important task in the conceptual design stage, the goal of type synthesis is to determine the chain of each limb as well as their relationship when they are assembled in parallel for a prescribed motion pattern. In our approach, we study a category of commonly used flexure primitives and flexure elements whose freedom and constraint spaces are characterized by twists and wrenches in screw theory. Following the well-studied synthesis procedure for rigid body PMs, we propose a synthesis procedure for compliant PMs via screw theory. As an example, we demonstrate the procedure for synthesizing compliant PMs with three translational DOF. Tables of limbs, types, and geometric conditions for the assemblies of these limbs are presented. The paper provides a catalog of 3DOF translational compliant PM designs. At last, we developed finite element simulation to validate one of the synthesized designs.

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Fig. 1

A parallel compliant PM with three rotational DOF

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Fig. 2

Design cases of limbs with R, P, and B flexure elements

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Fig. 3

Examples of compliant translational parallel platforms with three identical limbs. (a) Example of 3-3P parallel platform, (b) example of 3-3R1P parallel platform, (c) example of 3-5R parallel platform, (d) example of 3-BRP parallel platform, (e) example of 3-BB parallel platform, and (f) example of 3-1B2P parallel platform.

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Fig. 4

Finite element simulation of a 3-BB PM subject to a Fx = 1 N force (top) and a moment of M = 80 N mm (bottom)




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