Technical Brief

Design and Experimental Testing of an Improved Large-Range Decoupled XY Compliant Parallel Micromanipulator1

[+] Author and Article Information
Jingjun Yu

Robotics Institute,
Beihang University,
Beijing 100191, China
e-mail: jjyu@buaa.edu.cn

Yan Xie, Zhenguo Li

Robotics Institute,
Beihang University,
Beijing 100191, China

Guangbo Hao

Department of Electrical and Electronic Engineering, School of Engineering,
University College Cork,
Cork, Ireland
e-mail: G.Hao@ucc.ie

This paper has been partly presented at the ASME 2014 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, DETC2014-34982.

2Corresponding author.

Manuscript received July 31, 2014; final manuscript received April 8, 2015; published online July 17, 2015. Assoc. Editor: Raffaele Di Gregorio.

J. Mechanisms Robotics 7(4), 044503 (Nov 01, 2015) (6 pages) Paper No: JMR-14-1185; doi: 10.1115/1.4030467 History: Received July 31, 2014; Revised April 08, 2015; Online July 17, 2015

There is an increasing need for XY compliant parallel micromanipulators (CPMs) providing good performance characteristics such as large motion range, well-constrained cross-axis coupling, and parasitic rotation. Decoupled topology design of the CPMs can easily realize these merits without increasing the difficulty of controlling. This paper proposes an improved 4-PP model on the basis of a classical 4-PP model and both of them are selected for manufacturing and testing to verify the effectiveness of the improvement. It has shown from experimental results that there is a large improvement on the performances of improved 4-PP compliant parallel manipulator (CPM): large range of motion up to 5 mm × 5 mm in the unidirection in the dimension of 311 mm × 311 mm × 24 mm, smaller compliance fluctuation (only 36.63% of that of the initial 4-PP model), smaller cross-axis coupling (only 28.10% of that of the initial 4-PP model generated by a single-axis 5 mm actuation), smaller in-plane parasitic yaw (only 57.14% of that of the initial 4-PP model generated by double-axis 5 mm actuation).

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Fig. 1

Various kinematic configurations of decoupled rigid-body XY CPMs (Xi and Yi denote the P joint along X- and Y-axes, respectively): (a) 2-PP Model, (b) 4-PP Model, and (c) 4-PP&1-E Model

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Fig. 2

Distributed-compliance compliant modules (all the values of the parameters will be discussed later in Sec. 3): (a) P joint connected to base, (b) passive P joint connected to motion stage, and (c) a PP leg/chain

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Fig. 3

An improved 4-PP decoupled XY CPM: (a) new 4-PP model with subchains connected and (b) embodiment of the improved XY CPM

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Fig. 4

Experimental scheme (only half of the 4-PP model (Fig. 1(b)) is represented due to the symmetry)

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Fig. 5

Proof-of-concept prototypes: (a) original 4-PP experimental platform and (b) improved 4-PP experimental platform

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Fig. 6

Load–displacement curves: (a) force versus displacement under the load condition A and (b) force versus displacement under the load condition B

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Fig. 7

The input displacement following curves: (a) input- versus output-displacement under the load condition A and (b) input- versus output-displacement under the load condition B

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Fig. 8

Compliance curves: (a) force versus compliance under the load condition A and (b) force versus compliance under the load condition B

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Fig. 9

Cross-axis coupling: (a) inputs versus outputs coupling error under the load condition A and (b) inputs versus outputs coupling error under the load condition B

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Fig. 10

Comparison of in-plane yaw motion from nonlinear FEA



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