Compliant Parallel Robots
Annika Raatz,Jan Wrege,Arne Burisch,Jürgen Hesselbach +3 more
- pp 83-92
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TLDR
The development of a macro parallel robot is presented in which conventional bearings are replaced by pseudo-elastic flexure hinges, which is a spatial parallel structure with three translational degrees of freedom and is driven by three linear direct drives.Abstract:
In this paper the development of a macro parallel robot is presented in which conventional bearings are replaced by pseudo-elastic flexure hinges. The robot consists of a spatial parallel structure with three translational degrees of freedom and is driven by three linear direct drives. The structure has been optimized with respect to workspace and transmission ratio. Additionally, in simulations with the FEA tool ANSYS different geometrical arrangements and combinations of flexure hinges have been investigated with respect to the dynamic behavior of the compliant mechanism. Due to the symmetrical character of the structure and the optimized design of the combined flexure hinges the structure is very stiff. The experimental measured repeatability of the compliant robot is below 0.3 µrn.read more
Citations
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Journal ArticleDOI
Jacobian-based stiffness analysis method for parallel manipulators with non-redundant legs:
TL;DR: In this article, a complete stiffness analysis of a parallel manipulator is presented, including the contributions of joints as well as structural elements, and the stiffness of the model is analyzed.
Journal ArticleDOI
Design and dynamic modeling of a 2-DOF decoupled flexure-based mechanism
TL;DR: In this article, a 2-DOF decoupled mechanism is developed by monolithically manufacturing sets of statically indeterminate symmetric (SIS) flexure structures in parallel.
Journal ArticleDOI
A Compliant-Parallel Mechanism with Bio-Inspired Compliant Joints for High Precision Assembly Robot
Hiroaki Kozuka,Jumpei Arata,Kenji Okuda,Akinori Onaga,Motoshi Ohno,Akihito Sano,Hideo Fujimoto +6 more
TL;DR: The feasibility of C-P mechanism was shown positive to be applied to a high precision assembly robot within a wide range of working area and, unlike conventional mechanisms, C-p mechanism can be integrated into compact, lightweight, and simple structure.
Proceedings ArticleDOI
A bio-inspired compliant parallel mechanism for high-precision robots
Hiroaki Kozuka,Jumpei Arata,Kenji Okuda,Akinori Onaga,Motoshi Ohno,Akihito Sano,Hideo Fujimoto +6 more
TL;DR: This paper developed a 3-DOF compliant parallel mechanism for an optic component positioning machine that is composed of circular compliant joints that have been inspired by Drakaea, which is an orchidaceous species.
References
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Book
Compliant Mechanisms: Design of Flexure Hinges
TL;DR: The second edition of Compliant Mechanisms: Design of Flexure Hinges as mentioned in this paper provides practical answers to the design and analysis of devices that incorporate flexible hinges by means of a bottom-up compliance (flexibility) approach.
Book
Flexures: Elements of Elastic Mechanisms
TL;DR: Flexure Design: Advantages and Disadvantages of Flexures as discussed by the authors The main advantages and disadvantages of flexible design are: Basic Elasticity. Fatigue. Vibrations and Natural Frequencies of Continuous Systems.
Journal ArticleDOI
Parametric Deflection Approximations for End-Loaded, Large-Deflection Beams in Compliant Mechanisms
Larry L. Howell,Ashok Midha +1 more
TL;DR: In this article, a simple method of approximating the deflection path of end-loaded, large-deflection cantilever beams is presented, where the path coordinates are parameterized in a single parameter called the pseudo-rigid-body angle.