Analysis and Design of Parallel Mechanisms with Flexure Joints

Published

December 1, 2005

Author(s)

Byoung H. Kang, J Wen, Nicholas Dagalakis, Jason J. Gorman

Abstract

Flexure joints are frequently used in precision-motion stages and microrobotic mechanisms due to their monolithic construction. The joint compliance, however, can affect the static and dynamic performance of the overall mechanism. In this paper, we consider the analysis and design of general platform-type parallel mechanisms containing flexure joints. Based on static performance measures such as task-space stiffness and manipulability, and constraints such as joint stress, mechanism size, and workspace volume, we pose the design problem as a multiobjective optimization. We first calculate the Pareto frontier, which can then be used to select the desired design parameters based on secondary criteria, such as performance sensitivity and dynamic characteristics. To facilitate design iteration, we apply the pseudo rigid-body approach with a lumped approximation of the flexure joints. A planar mechanism is used to illustrate the analysis and design techniques.

Proceedings Title

Proceedings of IEEE Transactions

Volume

21

Conference Dates

December 1, 2005

Conference Location

, USA

Conference Title

Robotics

Pub Type

Conferences

Citation

Kang, B. , Wen, J. , Dagalakis, N. and Gorman, J. (2005), Analysis and Design of Parallel Mechanisms with Flexure Joints, Proceedings of IEEE Transactions, , USA (Accessed December 26, 2024)