In this paper, we apply screw theory to type synthesis of compliant parallel mechanisms (PMs) with translational degree-of-freedom (DOF). Compliant PMs are formed by a moving platform supported by three or more limbs each of which is a serial chain of flexure joints and rigid bodies. They achieve movement through the deformation of flexure joints and have been widely used in precision machinery. As an important task in the conceptual design stage, the goal of type synthesis is to determine the chain of each limb as well as their relationship when they are assembled in parallel for a prescribed motion pattern. In our approach, we study a category of commonly used flexure primitives and flexure elements whose freedom and constraint spaces are characterized by twists and wrenches in screw theory. Following the well-studied synthesis procedure for rigid body PMs, we propose a synthesis procedure for compliant PMs via screw theory. As an example, we demonstrate the procedure for synthesizing compliant PMs with three translational DOF. Tables of limbs, types, and geometric conditions for the assemblies of these limbs are presented. The paper provides a catalog of 3DOF translational compliant PM designs. At last, we developed finite element simulation to validate one of the synthesized designs.
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August 2015
Research-Article
Type Synthesis of Three-Degree-of-Freedom Translational Compliant Parallel Mechanisms
Cong Yue,
Cong Yue
Department of Mechanical Engineering,
e-mail: congyue1@umbc.edu
University of Maryland–Baltimore County
,Baltimore
, MD 21250e-mail: congyue1@umbc.edu
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Ying Zhang,
Ying Zhang
School of Automation,
and Telecommuncations,
Beijing 100876,
e-mail: graduate_yingzh@bupt.edu.cn
Beijing University of Posts
and Telecommuncations,
Beijing 100876,
China
e-mail: graduate_yingzh@bupt.edu.cn
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Hai-Jun Su,
Hai-Jun Su
1
Department of Mechanical
and Aerospace Engineering,
Columbus, OH 43210
e-mail: su.298@osu.edu
and Aerospace Engineering,
The Ohio State University
,Columbus, OH 43210
e-mail: su.298@osu.edu
1Corresponding author.
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Xianwen Kong
Xianwen Kong
School of Engineering and Physical Sciences,
e-mail: X.Kong@hw.ac.uk
Heriot-Watt University
,Edinburgh EH14 4AS
, UK
e-mail: X.Kong@hw.ac.uk
Search for other works by this author on:
Cong Yue
Department of Mechanical Engineering,
e-mail: congyue1@umbc.edu
University of Maryland–Baltimore County
,Baltimore
, MD 21250e-mail: congyue1@umbc.edu
Ying Zhang
School of Automation,
and Telecommuncations,
Beijing 100876,
e-mail: graduate_yingzh@bupt.edu.cn
Beijing University of Posts
and Telecommuncations,
Beijing 100876,
China
e-mail: graduate_yingzh@bupt.edu.cn
Hai-Jun Su
Department of Mechanical
and Aerospace Engineering,
Columbus, OH 43210
e-mail: su.298@osu.edu
and Aerospace Engineering,
The Ohio State University
,Columbus, OH 43210
e-mail: su.298@osu.edu
Xianwen Kong
School of Engineering and Physical Sciences,
e-mail: X.Kong@hw.ac.uk
Heriot-Watt University
,Edinburgh EH14 4AS
, UK
e-mail: X.Kong@hw.ac.uk
1Corresponding author.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received January 18, 2014; final manuscript received July 7, 2014; published online December 4, 2014. Assoc. Editor: Anupam Saxena.
J. Mechanisms Robotics. Aug 2015, 7(3): 031012 (8 pages)
Published Online: August 1, 2015
Article history
Received:
January 18, 2014
Revision Received:
July 7, 2014
Online:
December 4, 2014
Citation
Yue, C., Zhang, Y., Su, H., and Kong, X. (August 1, 2015). "Type Synthesis of Three-Degree-of-Freedom Translational Compliant Parallel Mechanisms." ASME. J. Mechanisms Robotics. August 2015; 7(3): 031012. https://doi.org/10.1115/1.4028758
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