[show abstract][hide abstract] ABSTRACT: The flexure parallel mechanism (FPM) possessing selective actuation (SA) feature can be used as a micromanipulation system. The design of FPMs with the SA characteristic consists of type synthesis of parallel mechanisms possessing the required number of degree of freedom (DOF), geometric arrangement of the structure to obtain the SA and conversion of the kinematic mechanism into the flexure mechanism. This paper focuses on the SA synthesis and the conversion into flexure mechanism. The SA synthesis is based on the diagonal form Jacobian matrix of the mechanism. The synthesis method is illustrated by two designs of FPMs with selective actuation feature: an SA 3-DOF translational FPM and an SA 6-DOF FPM. The analytical determination of the stiffness matrix is proposed for the design. The prototype of the SA 3-DOF FPM is then developed and used for experimental verification.
The International Journal of Robotics Research 01/2006; 25(2):171. · 2.86 Impact Factor
[show abstract][hide abstract] ABSTRACT: This paper presents parallel kinematic XY flexure mechanism designs based on systematic constraint patterns that allow large ranges of motion without causing over-constraint or significant error motions. Key performance characteristics of XY mechanisms such as mobility, cross-axis coupling, parasitic errors, actuator isolation, drive stiffness, lost motion, and geometric sensitivity are discussed. The standard double parallelogram flexure module is used as a constraint building-block and its non-linear force-displacement characteristics are employed in analytically predicting the performance characteristics of two proposed XY flexure mechanism designs. Fundamental performance tradeoffs, including those resulting from the non-linear load- stiffening and elastokinematic effects, in flexure mechanisms are highlighted. Comparisons between closed-form linear and non-linear analyses are presented to emphasize the inadequacy of the former. It is shown that geometric symmetry in the constraint arrangement relaxes some of the design tradeoffs, resulting in improved performance. The non-linear analytical predictions are validated by means of computational FEA and experimental measurements.
Journal of Mechanical Design - J MECH DESIGN. 01/2007; 129(8).
[show abstract][hide abstract] ABSTRACT: In Part II of this paper we demonstrate how to use freedom and constraint topology (FACT) to synthesize concepts for the multi-degree of freedom, parallel precision flexure systems that fall within the scope of Part I. Several examples are provided to demonstrate how the Principle of Complementary Topologies and geometric entities from Part I are (i) relevant to flexure system characteristics, (ii) used to visualize the possible layout of flexure constraints to achieve a desired motion and (iii) used to select redundant constraints. A synthesis process is presented, and then used to visualize and construct a flexure system concept with the requisite kinematic characteristics and redundant constraints that provide increased stiffness, load capacity, and symmetry. The output of the process is a flexure concept that would then be modeled and refined by existing modeling and analysis methods.
Precision Engineering-journal of The International Societies for Precision Engineering and Nanotechnology - PRECIS ENG. 01/2010; 34(2):271-278.
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