Output decoupling modeling of a XY flexure-based compliant manipulator

This paper presents the coupling stiffness modeling of an XY flexure-based manipulator. Stiffness/compliance equations for compliant mechanisms are first obtained. According to a simplified spring model, the input stiffness and coupling stiffness of the proposed manipulator consisting of outer and i...

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Bibliographic Details
Published inJournal of mechanical science and technology Vol. 34; no. 1; pp. 269 - 277
Main Authors Du, Yunsong, Li, Tiemin
Format Journal Article
LanguageEnglish
Published Seoul Korean Society of Mechanical Engineers 2020
Springer Nature B.V
대한기계학회
Subjects
Chains
Control
Cross coupling
Decoupling
Dynamical Systems
Engineering
Finite element method
Flexing
Industrial and Production Engineering
Mechanical Engineering
Modelling
Original Article
Stiffness
Vibration
기계공학
Compliant manipulator
Cross-coupling ratio
Coupling stiffness
Output decoupling characteristic
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Summary:This paper presents the coupling stiffness modeling of an XY flexure-based manipulator. Stiffness/compliance equations for compliant mechanisms are first obtained. According to a simplified spring model, the input stiffness and coupling stiffness of the proposed manipulator consisting of outer and inner kinematic chains are then derived. This simplified spring model is composed of four parallel chains, such as the left, lower, upper and right parallel chain. Subsequently, the external force/moment and the output displacement of the manipulator are analyzed by using finite element analysis (FEA). Finally, a prototype of the manipulator is fabricated. Its motion range and the corresponding cross-coupling displacements are measured, and thus the cross-coupling ratios can be derived. It demonstrates that the manipulator possesses good decoupling characteristic, and the proposed theoretical model is reasonable and accurate.
ISSN:1738-494X
1976-3824
DOI:10.1007/s12206-019-1228-7