Research Papers

A Novel Large-Range XY Compliant Parallel Manipulator With Enhanced Out-of-Plane Stiffness

[+] Author and Article Information
Guangbo Hao

Department of Electrical and Electronic Engineering, School of Engineering,  University College Cork, Cork, IrelandG.Hao@ucc.ie

Xianwen Kong1

School of Engineering and Physical Sciences,  Heriot-Watt University, Edinburgh, EH14 4AS,UKX.Kong@hw.ac.uk


Corresponding author.

J. Mech. Des 134(6), 061009 (May 15, 2012) (9 pages) doi:10.1115/1.4006653 History: Received August 18, 2010; Revised April 11, 2012; Published May 15, 2012; Online May 15, 2012

There is an increasing need for compact large-range XY compliant parallel manipulators (CPMs). This paper deals with a novel large-range XY CPM with enhanced out-of-plane stiffness (LRXYCPMEOS). Unlike most of XY CPMs based on the 4-PP (P: prismatic) decoupled parallel mechanism, the LRXYCPMEOS is obtained from a 4-PP-E (E: planar) decoupled parallel mechanism by replacing each P joint with a planar double multibeam parallelogram module (DMBPM) and the E joint with a spatial double multibeam parallelogram module. Normalized analytical models for the LRXYCPMEOS are then presented. As a case study, an LRXYCPMEOS with a motion range 10 mm × 10 mm in both positive directions is presented in detail, covering the geometrical parameter determination, performance characteristics analysis, actuation force check, and buckling check. The analytical models are compared with the finite element analysis (FEA) models. Finally, dynamics consideration, manufacturability, out-of-plane stiffness, and result interpretation are discussed. It is shown that the LRXYCPMEOS in the case study has the following merits: large range of motion up to 20 mm × 20 mm, enhanced out-of-plane stiffness which is approximately 7.1 times larger than the associated planar XY CPM without the spatial compliant leg, and well-constrained parasitic motion with the parasitic translation along the Z-axis less than 2 × 10−4 mm, the parasitic rotation about the X-axis/Y-axis less than 2 × 10−6 rad, and the parasitic rotation about the Z-axis below 1 × 10−6 rad.

Copyright © 2012 by American Society of Mechanical Engineers
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Figure 1

Schematic diagram of a 4-PP-E decoupled parallel mechanism

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Figure 2

Compliant P joints

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Figure 3

Spatial DMBPM: spatial double four-beam parallelogram module

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Figure 5

Planar three-beam parallelogram module

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Figure 6

Planar DMBPM: planar double three-beam parallelogram module

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Figure 7

Compliant P joint I with geometrical parameters and loading representation

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Figure 8

Compliant P joint II with geometrical parameters and loading representation

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Figure 10

FEA illustrations in large deformation

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Figure 11

Primary motion in the X-direction

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Figure 12

Cross-axis coupling error: X-displacement error

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Figure 13

Input-coupling percentage of the X-actuator

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Figure 14

Lost motion percentage in the X-direction



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