Research Papers

Using Singularities of Parallel Manipulators to Enhance the Rigid-Body Replacement Design Method of Compliant Mechanisms

[+] Author and Article Information
Lennart Rubbert

École Polytechnique Fédérale de Lausanne,
Lausanne CH-1015, Switzerland
e-mail: lennart.rubbert@epfl.ch

Stéphane Caro

École Centrale de Nantes – CNRS,
BP 92101 F-44321,
Nantes Cedex 3, France
e-mail: stephane.caro@irccyn.ec-nantes.fr

Jacques Gangloff

University of Strasbourg,
BP 20/23, rue du Loess,
Strasbourg 67037, France
e-mail: jacques.gangloff@unistra.fr

Pierre Renaud

INSA of Strasbourg,
24 Bd. de la Victoire,
Strasbourg 67000, France
e-mail: pierre.renaud@insa-strasbourg.fr

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received July 9, 2013; final manuscript received February 21, 2014; published online March 25, 2014. Assoc. Editor: Craig Lusk.

J. Mech. Des 136(5), 051010 (Mar 25, 2014) (9 pages) Paper No: MD-13-1297; doi: 10.1115/1.4026949 History: Received July 09, 2013; Revised February 21, 2014

The rigid-body replacement method is often used when designing a compliant mechanism. The stiffness of the compliant mechanism, one of its main properties, is then highly dependent on the initial choice of a rigid-body architecture. In this paper, we propose to enhance the efficiency of the synthesis method by focusing on the architecture selection. This selection is done by considering the required mobilities and parallel manipulators in singularity to achieve them. Kinematic singularities of parallel structures are indeed advantageously used to propose compliant mechanisms with interesting stiffness properties. The approach is first illustrated by an example, the design of a one degree of freedom compliant architecture. Then, the method is used to design a medical device where a compliant mechanism with three degrees of freedom is needed. The interest of the approach is outlined after application of the method.

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Fig. 1

Principle of the design approach based on singularity analysis of parallel manipulators. Colored joints represent the actuated joints considered locked, big arrows represent the possible instantaneous motions of the end-effector. (a) Step 1: selection of a parallel manipulator: 3-PRR planar parallel manipulator. (b) Step 2: singular configuration for the first actuation mode. (c) Step 2: singular configuration for the second actuation mode. (d) Step 2: singular configuration for the third actuation mode. (e) Step 3: selection of the most suitable actuation mode. (f) Step 4: design of the compliant mechanism.

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Fig. 7

Constraint forces applied by the legs to the moving platform

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Fig. 8

Constraint and actuation wrench system of the 3-US parallel manipulator for the first actuation mode

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Fig. 2

The Cardiolock II [31]

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Fig. 3

The new considered architecture for the active stabilizer

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Fig. 4

3-US parallel manipulator and its planar configuration

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Fig. 5

Instantaneous motions of the 3-US manipulator in the planar configuration. (a) Translation velocity vector field, (b) first rotation velocity vector field, and (c) second rotation velocity vector field.

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Fig. 6

3-US manipulator broken down into rotational joints

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Fig. 9

Constraint and actuation forces of the 3-US parallel manipulator for the fourth actuation mode

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Fig. 10

Constraint and actuation forces of the 3-US parallel manipulator for the five actuation modes. (a) First actuation mode, (b) second actuation mode, (c) third actuation mode, (d) fourth actuation mode, and (e) fifth actuation mode.

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Fig. 11

3-UU planar mechanism with RRP mobilities

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Fig. 12

CAD view of the 3-UU compliant mechanism

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Fig. 14

Integration of the 3-UU compliant mechanism into the 2PRR-1RR actuation mechanism

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Fig. 13

Finite element analysis of the 3-UU mechanism. Forces F and moments M are applied at the center of the mechanism (color online). (a) Fx = 300 N, (b) Mx = 100 N mm, (c) Fy = 300 N, (d) My = 100 N mm, (e) Fz = 300 N, and (f) Mz = 100 N mm.




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