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.
Using Singularities of Parallel Manipulators to Enhance the Rigid-Body Replacement Design Method of Compliant Mechanisms
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.
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Rubbert, L., Caro, S., Gangloff, J., and Renaud, P. (March 25, 2014). "Using Singularities of Parallel Manipulators to Enhance the Rigid-Body Replacement Design Method of Compliant Mechanisms." ASME. J. Mech. Des. May 2014; 136(5): 051010. https://doi.org/10.1115/1.4026949
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