Conventional Parallel Kinematic Machines (PKMs) suffer from poor repeatability due to backlash in various joints. Use of flexures to overcome this limitation has also been reported in the published literature. However, conventional flexures suffer from axis drift, limited range of motion and stress concentrations. We present a new method of design of Compliant PKMs (CPKMs) and using a new type of compliant joints. We employ large displacement compliant joints to construct PKMs, which exhibit sub-micron accuracy. The methodology presented in this paper allows us to synthesize a PKM for any desired number and type of kinematic degrees of freedom by employing modular construction elements. A library of constraining legs synthesized from compliant joints is used for construction of any CPKM. The paper presents a systematic approach to transforming an arbitrary 3D motions specification into a set of motions along orthogonal axes using dual vector. The method enables construction of any CPKM by using the library of standard constraining legs and active legs. The methodology is illustrated with a design example.
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ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 29–October 2, 2002
Montreal, Quebec, Canada
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-3653-3
PROCEEDINGS PAPER
Design of Compliant Parallel Kinematic Machines
Yong-Mo Moon,
Yong-Mo Moon
University of Michigan, Ann Arbor, MI
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Sridhar Kota
Sridhar Kota
University of Michigan, Ann Arbor, MI
Search for other works by this author on:
Yong-Mo Moon
University of Michigan, Ann Arbor, MI
Sridhar Kota
University of Michigan, Ann Arbor, MI
Paper No:
DETC2002/MECH-34204, pp. 35-41; 7 pages
Published Online:
June 18, 2008
Citation
Moon, Y, & Kota, S. "Design of Compliant Parallel Kinematic Machines." Proceedings of the ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5: 27th Biennial Mechanisms and Robotics Conference. Montreal, Quebec, Canada. September 29–October 2, 2002. pp. 35-41. ASME. https://doi.org/10.1115/DETC2002/MECH-34204
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