AI Article Synopsis
- A new type of -4R compliant parallel pointing mechanism is introduced, focusing on its compliance and kinetostatic models.
- The compliance model is developed using coordinate transformation and verified through finite element analysis, examining how changes in geometric parameters affect performance.
- The mechanism is simplified to an equivalent spring system, allowing for the formulation of a governing equation that accurately maps input force to output displacement, with validation showing that analytical results align closely with simulation outcomes.
Article Abstract
A novel class of -4R compliant parallel pointing mechanisms is proposed, and the compliance and kinetostatic model of the mechanism are established and analyzed successively. Firstly, the compliance model of a class of -4R compliant parallel pointing mechanism is established based on the coordinate transformation. The model is verified by finite element analysis, and the influence of geometric parameter variations on the compliance performance of the mechanism is analyzed. Secondly, the mechanism is simplified to an equivalent spring system, and the governing equation of the equivalent spring system is constructed by utilizing the established compliance model. According to the governing equation, the mapping relationship between the input force and the output displacement of the mechanism is subsequently obtained, that is, the kinetostatic model. Then, the accuracy of the kinetostatic model is verified by two simulation examples: The spiral trajectory of the mobile platform center and the spatial pointing trajectory of the mechanism. The results of the two examples show that the deviations between the analytical results and the FE-results are within 0.038% and 0.857%, with the excellent consistency indicating the accuracy of the kinetostatic model. Finally, the influence of the geometric parameter values on the mapping matrix in the kinetostatic model is studied.
Download full-text PDF |
Source |
|---|---|
| http://www.ncbi.nlm.nih.gov/pmc/articles/PMC9317572 | PMC |
| http://dx.doi.org/10.3390/mi13071014 | DOI Listing |
Publication Analysis
Top Keywords
Similar Publications
Compliance and Kinetostatics of a Novel 2PRS-2PSS Compliant Parallel Micromanipulator: Modeling and Analysis.
Micromachines (Basel)
April 2024
Hubei Key Laboratory of Modern Manufacturing Quantity Engineering, School of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, China.
A novel 2PRS-2PSS (P represents the prismatic pair, R represents the revolute hinge, S represents the spherical hinge) compliant parallel micromanipulator with two translational DOFs and two rotational DOFs is presented, and its compliance model and kinetostatic model are sequentially developed and analyzed. Initially, an analytical model used to describe the compliance of this micromanipulator was developed using the compliance matrix method (CMM). Through a comparison with finite element analysis, the accuracy of this analytical model is confirmed, and the influence of various dimensional and structural parameters on the compliance behavior is investigated.
View Article and Find Full Text PDFCompliance Modeling and Kinetostatic Analysis of a Generalized 3-PSS Compliant Parallel Micro-Motion Platform.
Micromachines (Basel)
February 2024
Hubei Key Laboratory of Modern Manufacturing Quantity Engineering, School of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, China.
In order to expand the range of motion performance of the 3-PSS-compliant parallel micro-motion platform, a variable inclination angle of the mechanism's guide rails was introduced to construct a category of generalized 3-PSS compliant parallel micro-motion platforms with distinct configurations (exhibiting different motion performances) but identical motion patterns (three translational degrees of freedom). The compliance and kinetostatics of such micro-motion platform are modeled and analyzed. Firstly, the compliance model is established based on the coordinate transformation method.
View Article and Find Full Text PDFA Kinetostatic Model for Concentric Push-Pull Robots.
IEEE Trans Robot
October 2023
Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN.
Concentric push-pull robots (CPPR) operate through the mechanical interactions of concentrically nested, laser-cut tubes with offset stiffness centers. The distal tips of the tubes are attached to each other, and relative displacement of the tube bases generates bending in the CPPR. Previous CPPR kinematic models assumed two tubes, planar shapes, no torsion, and no external loads.
View Article and Find Full Text PDFDesign optimization of a flexure spring used in small-sized ultra-precise optical instrument.
Heliyon
December 2023
Institute for Advanced Engineering, 175-28, Goan-ro 51 beon-gil, Baegam-myeon, Cheoin-gu, Yongin-si, Gyeonggi-do, 17180, South Korea.
Small-sized ultra-precise optical devices require compact compliant ortho-planar springs (COPS) aka. flexure springs, for precise, frictionless linear motion which depends highly on the design. A self-developed arm-hinge-linked design, named "Panto-style" flexure spring was optimized by selecting 5 design parameters (thickness: t, hinge width: W, arm length 1 and 2: L and L, arm angle: Ө) and constructing sets of design of experiments (DOEs).
View Article and Find Full Text PDFGeneralized element-node complete model and its implementation for the optimal design of a piezo-actuated compliant amplifier.
Rev Sci Instrum
August 2023
School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu 210094, China.
Article Synopsis
- - This paper discusses a new modeling method for compliant mechanisms, which enhances the performance of stacked piezoelectric actuators by accurately capturing their static and dynamic behaviors.
- - A versatile stiffness model is introduced for flexure hinges with arbitrary notch shapes, allowing for better design and optimization of compliant mechanisms.
- - Validation through finite element simulations shows that the maximum modeling error is under 20%, and tests on an optimized prototype confirm the effectiveness of the proposed methods in practice.
Want AI Summaries of new PubMed Abstracts delivered to your In-box?
Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!