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Research Papers

Trajectory Control of Compliant Parallel-Arm Mechanisms

[+] Author and Article Information
Ayşe Tekeş

Department of Mechanical Engineering, MEKAR Laboratory, Istanbul Technical University, Gümüşşuyu, 34437 Istanbul, Turkeyatekes@itu.edu.tr

Ümit Sönmez1

Department of Mechanical Engineering, MEKAR Laboratory, Istanbul Technical University, Gümüşşuyu, 34437 Istanbul, Turkeyusonitu@gmail.com

Bilin Aksun Güvenç

Department of Mechanical Engineering, MEKAR Laboratory, Istanbul Technical University, Gümüşşuyu, 34437 Istanbul, Turkeyguvencb@itu.edu.tr

1

Corresponding author.

J. Mech. Des 132(1), 011006 (Dec 30, 2009) (8 pages) doi:10.1115/1.4000637 History: Received September 09, 2007; Revised October 19, 2009; Published December 30, 2009; Online December 30, 2009

In this paper, a compliant parallel-arm mechanism design with a desired trajectory control is investigated. The compliant parallel-arm mechanism consists of two large-deflecting initially straight beams and a rigid coupler. The coupler is assumed to be actuated by a magnetic force drive with an obtainable force history. This compliant parallel-arm mechanism can be used as an indexing mechanism or a dwell mechanism if the rigid coupler horizontal trajectory includes stops at a certain horizontal displacement (rise) and it also includes waiting periods at the specified rise for a desired duration. This trajectory is achieved by using a conventional proportional-integral-derivative type trajectory controller that uses position, velocity, and acceleration information. The theory and the presented results are checked by several methods, including geometrically nonlinear finite element analysis, then a simulation based method, and finally an experimental method. The experimental setup is constructed based on a reverse engineering concept to validate the theory and to confirm the simulation results.

Copyright © 2010 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

A compliant parallel-arm mechanism driven by a magnetic force actuator considering small scale deflections and high precision, adapted from Hubbard (18)

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Figure 2

Cantilever beam subject to an end load

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Figure 3

Normalized load deflection plots of a cantilever beam (large-deflection theory)

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Figure 4

A cantilever beam, an arm beam, and a parallel-arm mechanism

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Figure 5

Desired coupler displacement versus time

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Figure 6

Calculated desired coupler velocity versus time

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Figure 7

Calculated desired coupler acceleration versus time

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Figure 8

Single DOF mass, damper, and spring system

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Figure 9

The output displacement response: the desired motion, linearized model response, and nonlinear model response

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Figure 10

The error plot of linearized and nonlinear model

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Figure 13

Rigid coupler rotation

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Figure 14

Load deflection comparing both left and right beams

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Figure 15

Comparing elastica approximation and nonlinear FEA

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Figure 16

Verification of the results by simulation

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Figure 17

Design of the experimental setup to verify the theory

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Figure 18

Experimental setup

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Figure 19

Experimental setup front view

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Figure 20

Comparing experimental and modeling results

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