Stiffness research on a high-precision, large-workspace parallel mechanism with compliant joints

2008 ◽  
Vol 32 (3) ◽  
pp. 222-231 ◽  
Author(s):  
Wei Dong ◽  
Lining Sun ◽  
Zhijiang Du
Keyword(s):  
High Precision ◽  
Parallel Mechanism ◽  
Compliant Joints

scholarly journals A Compliant-Parallel Mechanism with Bio-Inspired Compliant Joints for High Precision Assembly Robot

Procedia CIRP ◽  
2013 ◽  
Vol 5 ◽  
pp. 175-178 ◽  
Author(s):  
Hiroaki Kozuka ◽  
Jumpei Arata ◽  
Kenji Okuda ◽  
Akinori Onaga ◽  
Motoshi Ohno ◽  
...  
Keyword(s):  
High Precision ◽  
Parallel Mechanism ◽  
Compliant Joints ◽  
Compliant Parallel Mechanism

Experimental Validation of the Kinematics of a 3PRS Compliant Mechanism for Micromilling

2015 ◽  
Author(s):  
Antonio Ruiz ◽  
Francisco Campa Gomez ◽  
Constantino Roldan-Paraponiaris ◽  
Oscar Altuzarra
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Experimental Validation ◽  
Compliant Mechanism ◽  
Motion Controller ◽  
End Effector ◽  
Compliant Joints ◽  
Hybrid Manipulator ◽  
Compliant Parallel Mechanism ◽  
Actuated Joints

The present work deals with the development of a hybrid manipulator of 5 degrees of freedom for milling moulds for microlenses. The manipulator is based on a XY stage under a 3PRS compliant parallel mechanism. The mechanism takes advantage of the compliant joints to achieve higher repetitiveness, smoother motion and a higher bandwidth, due to the high precision demanded from the process, under 0.1 micrometers. This work is focused on the kinematics of the compliant stage of the hybrid manipulator. First, an analysis of the workspace required for the milling of a single mould has been performed, calculating the displacements required in X, Y, Z axis as well as two relative rotations between the tool and the workpiece from a programmed toolpath. Then, the 3PRS compliant parallel mechanism has been designed using FEM with the objective of being stiff enough to support the cutting forces from the micromilling, but flexible enough in the revolution and spherical compliant joints to provide the displacements needed. Finally, a prototype of the 3PRS compliant mechanism has been built, implementing a motion controller to perform translations in Z direction and two rotations. The resulting displacements in the end effector and the actuated joints have been measured and compared with the FEM calculations and with the rigid body kinematics of the 3PRS.

Self-Calibration of XY-Stage with Parallel Mechanism

2014 ◽  
Vol 590 ◽  
pp. 126-129
Author(s):  
Ryoshu Furutani ◽  
Satoshi Yokouchi ◽  
Miyu Ozaki
Keyword(s):  
High Precision ◽  
Parallel Mechanism ◽  
Least Squares Method ◽  
Calibration Method ◽  
Measuring Instruments ◽  
Precision Manufacturing ◽  
Kinematic Parameters ◽  
Self Calibration ◽  
Simulation And Experiment ◽  
Experimental Process

It is important to calibrate the straightness and the squareness of the XY-stage for precision manufacturing and measurement. Normally it is calibrated using much higher precise and accurate measuring instruments and/or artifacts. The high precision and accurate instruments and artifacts are expensive. So, in this paper, Self-calibration method is applied to XY-stage. This method does not require any much high precision and accurate instruments and artifacts. The normal XY-stage moves to the location at the unique coordinates. In this case, it is difficult to apply self-calibration method. Therefore, XY-stage is expanded to XYθ-stage with parallel mechanism. As this stage moves to the location at a lot of coordinates, self-calibration method is applied. This method is confirmed in simulation and experiment. In simulation, the extension lengths of mechanism are estimated from known kinematic parameters and the target coordinates. After that, estimated kinematic parameters are calculated by least-squares method from the extension lengths and the target coordinates. Finally, the positioning coordinates are calculated from the estimated kinematic parameters and the extension lengths. It is proved that the calibration method is effective by comparing the target coordinates and the positioning coordinates. In experiment, the experimental process is similar to the simulation without the estimation of extension lengths. The results of simulation and experiment are shown in this paper.

The EMIR detector translation unit: a cryogenic high-precision 3-DoF parallel mechanism

2006 ◽  
Author(s):  
Lorenzo Zago ◽  
Serge Droz ◽  
Livia Racz ◽  
Albert Molins
Keyword(s):  
High Precision ◽  
Parallel Mechanism

605 Study of a parallel mechanism type machine tool and its tool path generation for high-precision work

2006 ◽  
Vol 2006.43 (0) ◽  
pp. 177-178
Author(s):  
Ryoji HATTORI ◽  
Hiroshi TACHIYA ◽  
Naoki ASAKAWA ◽  
Yoshiyuki KANEKO ◽  
Hiroshi YACHI
Keyword(s):  
Machine Tool ◽  
High Precision ◽  
Parallel Mechanism ◽  
Tool Path ◽  
Tool Path Generation ◽  
Path Generation ◽  
Type Machine

1A1-E23 Development of a High Precision Robot using a Spring-Parallel Mechanism

2010 ◽  
Vol 2010 (0) ◽  
pp. _1A1-E23_1-_1A1-E23_2
Author(s):  
Hiroaki KOZUKA ◽  
Yasuhiro SAITO ◽  
Jumpei ARATA ◽  
Kenji OKUDA ◽  
Akinori ONAGA ◽  
...  
Keyword(s):  
High Precision ◽  
Parallel Mechanism
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