Conceptual designs of multi-degree of freedom compliant parallel manipulators composed of wire-beam based compliant mechanisms

Hao, Guangbo; Li, Haiyang

Conceptual designs of multi-degree of freedom compliant parallel manipulators composed of wire-beam based compliant mechanisms

Files

JMES_Rev1-Multi-DOF_Compliant_Parallel_Manipulators_Composed_of_Wire_Beams.pdf(2.44 MB)

Accepted Version

Date

2014-05-15

Authors

Hao, Guangbo

Li, Haiyang

Publisher

Sage Publishing Ltd

Published Version

doi: 10.1177/0954406214535925

Abstract

This paper proposes conceptual designs of multi-degree(s) of freedom (DOF) compliant parallel manipulators (CPMs) including 3-DOF translational CPMs and 6-DOF CPMs using a building block based pseudo-rigid-body-model (PRBM) approach. The proposed multi-DOF CPMs are composed of wire-beam based compliant mechanisms (WBBCMs) as distributed-compliance compliant building blocks (CBBs). Firstly, a comprehensive literature review for the design approaches of compliant mechanisms is conducted, and a building block based PRBM is then presented, which replaces the traditional kinematic sub-chain with an appropriate multi-DOF CBB. In order to obtain the decoupled 3-DOF translational CPMs (XYZ CPMs), two classes of kinematically decoupled 3-PPPR (P: prismatic joint, R: revolute joint) translational parallel mechanisms (TPMs) and 3-PPPRR TPMs are identified based on the type synthesis of rigid-body parallel mechanisms, and WBBCMs as the associated CBBs are further designed. Via replacing the traditional actuated P joint and the traditional passive PPR/PPRR sub-chain in each leg of the 3-DOF TPM with the counterpart CBBs (i.e. WBBCMs), a number of decoupled XYZ CPMs are obtained by appropriate arrangements. In order to obtain the decoupled 6-DOF CPMs, an orthogonally-arranged decoupled 6-PSS (S: spherical joint) parallel mechanism is first identified, and then two example 6-DOF CPMs are proposed by the building block based PRBM method. It is shown that, among these designs, two types of monolithic XYZ CPM designs with extended life have been presented.

Keywords

Conceptual designs , Compliant mechanisms , Parallel mechanisms , Wire-beam based mechanisms , Compliant building blocks , Multi-DOF manipulators

Citation

Hao, G. and Li, H. (2014) 'Conceptual designs of multi-degree of freedom compliant parallel manipulators composed of wire-beam based compliant mechanisms', Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 229(3), pp. 538-555. doi: 10.1177/0954406214535925