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Research Papers

Design and Kinematics Modeling of a Novel 3-DOF Monolithic Manipulator Featuring Improved Scott-Russell Mechanisms

[+] Author and Article Information
Yanding Qin

Tianjin Key Laboratory
of Intelligent Robotics
Nankai University,
Tianjin 300071, China
e-mail: qinyd@nankai.edu.cn

Bijan Shirinzadeh

Robotics and Mechatronics
Research Laboratory,
Department of Mechanical
and Aerospace Engineering,
Monash University,
Clayton VIC 3800, Australia
e-mail: bijan.shirinzadeh@monash.edu

Dawei Zhang

e-mail: medzhang@tju.edu.cn

Yanling Tian

e-mail: meytian@tju.edu.cn
Key Laboratory of Mechanism Theory and
Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanical Design. Manuscript received October 2, 2012; final manuscript received June 16, 2013; published online August 21, 2013. Assoc. Editor: Feng Gao.

J. Mech. Des 135(10), 101004 (Aug 21, 2013) (9 pages) Paper No: MD-12-1485; doi: 10.1115/1.4024979 History: Received October 02, 2012; Revised June 16, 2013

This paper proposes the design of a novel 3-DOF monolithic manipulator. This manipulator is capable of performing planar manipulations with three kinematically coupled DOFs, i.e., the translations in the X and Y axes and the rotation about the Z axis. An improved Scott-Russell (ISR) mechanism is utilized to magnify the displacement of the piezoelectric actuator (PEA). Unlike the SR mechanism, a set of leaf parallelograms is incorporated into the drive point of the ISR mechanism as a prismatic joint. As a result, the linearity of motion and stability are improved. With circular flexure hinges being treated as revolute joints, the forward kinematics and inverse kinematics of the 3-DOF manipulator are analytically derived. Computational analyses are performed to validate the established kinematics models. Due to the unwanted compliance of the flexure hinges, the actual displacement amplification ratio of the ISR mechanism is smaller than its theoretical value. This is the main cause of the discrepancies between the analytical and computational results. The reachable workspace and the static/dynamic characteristics of the 3-DOF manipulator are also analyzed.

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Figures

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Fig. 1

Scott-Russell mechanism: (a) schematic diagram, (b) a conventional flexure-based SR mechanism, and (c) deformation under a force actuation

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Fig. 2

The first three mode shapes of the SR and ISR mechanisms: (a1)–(a3) SR mechanism, (b1)–(b3) ISR mechanism candidate 1, and (c1)–(c3) ISR mechanism candidate 2

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Fig. 3

Candidates of the ISR mechanisms: (a) candidate 1: integrating prismatic joint into the drive point and (b) candidate 2: integrating prismatic joint into the output point

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Fig. 4

Structural design of the 3-DOF manipulator: (a) schematic diagram and (b) kinematics model

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Fig. 5

Kinematics model of the simplified 3-PRR manipulator

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Fig. 6

Reachable workspace of the 3-DOF manipulator: (a) 3D workspace envelope and (b) sliced sections at different θ values

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Fig. 7

First three mode shapes of the 3-DOF manipulator with no PEA installed

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Fig. 8

Response of the central platform with the second kinematic chain activated: (a) linear displacements and (b) angular displacement

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Fig. 9

Sliced sections of the reachable workspace obtained in computational analyses (Dotted lines show the corresponding analytical results)

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