Towards the design of monolithic decoupled XYZ compliant parallel mechanisms for multi-function applications

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dc.contributor.author Hao, Guangbo
dc.date.accessioned 2016-05-27T11:45:13Z
dc.date.available 2016-05-27T11:45:13Z
dc.date.issued 2013-08-15
dc.identifier.citation Hao, G. (2013) 'Towards the design of monolithic decoupled XYZ compliant parallel mechanisms for multi-function applications', Mechanical Sciences, 4, pp. 291-302, doi:10.5194/ms-4-291-2013 en
dc.identifier.volume 4 en
dc.identifier.startpage 291 en
dc.identifier.endpage 302 en
dc.identifier.uri http://hdl.handle.net/10468/2641
dc.identifier.doi doi:10.5194/ms-4-291-2013
dc.description.abstract This paper deals with the monolithic decoupled XYZ compliant parallel mechanisms (CPMs) for multi-function applications, which can be fabricated monolithically without assembly and has the capability of kinetostatic decoupling. At first, the conceptual design of monolithic decoupled XYZ CPMs is presented using identical spatial compliant multi-beam modules based on a decoupled 3-PPPR parallel kinematic mechanism. Three types of applications: motion/positioning stages, force/acceleration sensors and energy harvesting devices are described in principle. The kinetostatic and dynamic modelling is then conducted to capture the displacements of any stage under loads acting at any stage and the natural frequency with the comparisons with FEA results. Finally, performance characteristics analysis for motion stage applications is detailed investigated to show how the change of the geometrical parameter can affect the performance characteristics, which provides initial optimal estimations. Results show that the smaller thickness of beams and larger dimension of cubic stages can improve the performance characteristics excluding natural frequency under allowable conditions. In order to improve the natural frequency characteristic, a stiffness-enhanced monolithic decoupled configuration that is achieved through employing more beams in the spatial modules or reducing the mass of each cubic stage mass can be adopted. In addition, an isotropic variation with different motion range along each axis and same payload in each leg is proposed. The redundant design for monolithic fabrication is introduced in this paper, which can overcome the drawback of monolithic fabrication that the failed compliant beam is difficult to replace, and extend the CPM’s life. en
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.publisher Copernicus Publications en
dc.rights © 2013, Guangbo Hao. en
dc.rights.uri https://creativecommons.org/licenses/by/3.0/ en
dc.subject Monolithic en
dc.subject Redundant en
dc.subject Compliant mechanism en
dc.subject Modelling en
dc.subject Optimization en
dc.title Towards the design of monolithic decoupled XYZ compliant parallel mechanisms for multi-function applications en
dc.type Article (peer-reviewed) en
dc.internal.authorcontactother Guangbo Hao, Electrical and Electronic Engineering, University College Cork, Cork, Ireland. +353-21-490-3000 Email: g.hao@ucc.ie en
dc.internal.availability Full text available en
dc.date.updated 2014-04-03T23:04:05Z
dc.description.version Accepted Version en
dc.internal.rssid 207582637
dc.description.status Peer reviewed en
dc.identifier.journaltitle Mechanical Sciences en
dc.internal.copyrightchecked No en
dc.internal.licenseacceptance Yes en
dc.internal.IRISemailaddress g.hao@ucc.ie en


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© 2013, Guangbo Hao. Except where otherwise noted, this item's license is described as © 2013, Guangbo Hao.
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