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Technical Briefs

An Analytical Approach for Synthesizing Line Actuation Spaces of Parallel Flexure Mechanisms

[+] Author and Article Information
Jingjun Yu

e-mail: jjyu@buaa.edu.cn

Shouzhong Li

e-mail: shouzhonglsz@gmail.com
Robotics Institute,
Beihang University,
Beijing 100191, China

Chen Qiu

School of Physical Science and Engineering,
King's College,
University of London,
The Strand,
London WC2R 2LS, UK
e-mail: qiuchenchallenge@gmail.com

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received August 21, 2012; final manuscript received August 9, 2013; published online September 18, 2013. Assoc. Editor: Alexander Slocum.

J. Mech. Des 135(12), 124501 (Sep 18, 2013) (5 pages) Paper No: MD-12-1423; doi: 10.1115/1.4025289 History: Received August 21, 2012; Revised August 09, 2013

In this study, we present an analytical approach for synthesizing line actuation spaces of a parallel flexure mechanism (PFM) that can help designers to arrange linear actuators within the PFM in a correct and optimal way. On the basis of screw theory and upon an assumption of small deformations, an important synthesis criterion stated as “any actuation space of a flexure mechanism is always linearly independent of its constraint space” has been derived and disclosed for the first time. Guided by this criterion, a general synthesis process for the line actuation spaces of PFMs is introduced and demonstrated with several selective examples. The proposed synthesis criterion and process will enable designers to (i) systematically formulate line actuation spaces in the format of screw systems; (ii) likely yield a multiple solution to actuation spaces; and (iii) potentially determine an optimal result from those alternatives for actuator placement.

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References

Figures

Grahic Jump Location
Fig. 1

Mapping of actuation space, freedom space, and constraint space

Grahic Jump Location
Fig. 2

The flowchart of actuation space synthesis process

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