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

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dc.contributor.authorHao, Guangbo
dc.date.accessioned2016-05-27T11:45:13Z
dc.date.available2016-05-27T11:45:13Z
dc.date.issued2013-08-15
dc.date.updated2014-04-03T23:04:05Z
dc.description.abstractThis 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.description.statusPeer revieweden
dc.description.versionAccepted Versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.citationHao, 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-4-291-2013en
dc.identifier.doidoi:10.5194/ms-4-291-2013
dc.identifier.endpage302en
dc.identifier.journaltitleMechanical Sciencesen
dc.identifier.startpage291en
dc.identifier.urihttps://hdl.handle.net/10468/2641
dc.identifier.volume4en
dc.language.isoenen
dc.publisherCopernicus Publicationsen
dc.rights© 2013, Guangbo Hao.en
dc.rights.urihttps://creativecommons.org/licenses/by/3.0/en
dc.subjectMonolithicen
dc.subjectRedundanten
dc.subjectCompliant mechanismen
dc.subjectModellingen
dc.subjectOptimizationen
dc.titleTowards the design of monolithic decoupled XYZ compliant parallel mechanisms for multi-function applicationsen
dc.typeArticle (peer-reviewed)en
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