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Research Papers

Characterization of Spatial Parasitic Motions of Compliant Mechanisms Induced by Manufacturing Errors

[+] Author and Article Information
Zhiwei Zhu

State Key Laboratory of Ultra-Precision
Machining Technology,
Department of Industrial and
System Engineering,
The Hong Kong Polytechnic University,
Kowloon, Hong Kong SAR 999077, China
e-mail: wsjdzzw-jx@163.com

Suet To

State Key Laboratory of Ultra-Precision
Machining Technology,
Department of Industrial and
System Engineering,
The Hong Kong Polytechnic University,
Kowloon, Hong Kong SAR 999077, China;
Shenzhen Research Institute of the
Hong Kong Polytechnic University,
Shenzhen 518052, China
e-mail: sandy.to@polyu.edu.hk

Xiaoqin Zhou

School of Mechanical Science and Engineering,
Jilin University,
Changchun 130022, China
e-mail: xqzhou@jlu.edu.cn

Rongqi Wang

School of Mechanical Science and Engineering,
Jilin University,
Changchun 130022, China
e-mail: gzzjwrq@163.com

Xu Zhang

School of Mechanical Science and Engineering,
Jilin University,
Changchun 130022, China
e-mail: zhangxu8613@163.com

1Corresponding author.

Manuscript received March 19, 2015; final manuscript received April 26, 2015; published online August 18, 2015. Assoc. Editor: Larry L. Howell.

J. Mechanisms Robotics 8(1), 011018 (Aug 18, 2015) (9 pages) Paper No: JMR-15-1065; doi: 10.1115/1.4030586 History: Received March 19, 2015

This paper proposes a theoretical model for characterizing manufacturing error induced spatial parasitic motions (MESPM) of compliant mechanisms (CM), and investigates the inherent statistic features of MESPM using Monte Carlo simulation. It also applies and extends a novel finite beam based matrix modeling (FBMM) method to theoretically derive the elastic deformation behavior of an imperfect flexural linkage (IFL), which is a basic element of a wide spectrum of compliant mechanisms. A case study of a well-known double parallelogram compliant mechanism (DPCM) is also conducted, and the practical parasitic motions of a prototype DPCM are characterized by laser interferometer based measurements.

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Figures

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Fig. 3

Schematic of the linkages derived from the mathematical model

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Fig. 2

Structure characteristic of the IFL

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Fig. 1

Schematic of a typical flexural linkage

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Fig. 6

Characteristics of spatial parasitic motions, where the lines with circle marks and rectangle marks correspond to the PMU and the SPMU, respectively: (a) motions in the x-axis direction, (b) motions in the y-axis direction, (c) motions in the z-axis direction, (d) rotations around the x-axis, (e) rotations around the y-axis, and (f) rotations around the z-axis

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Fig. 5

Variations of the std of deformations in the y-axis direction

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Fig. 7

SPMUs in terms of position uncertainties

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Fig. 8

SPMUs in terms of angle uncertainties

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Fig. 9

Experimental setup for measuring parasitic motions (1—capacitive displacement sensor, 2—linear interferometer, 3—reflector, 4—the DPCM, and 5—Piezoelectric actuator)

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Fig. 10

Parasitic motions of the mechanism in (a) the x-axis direction and (b) the z-axis direction

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