A novel parallel-kinematic flexure mechanism that provides highly decoupled motions along the three translational directions (X, Y, and Z) and high stiffness along the three rotational directions (θx, θy, and θz) is presented. Geometric decoupling ensures large motion range along each translational direction and enables integration with large-stroke ground-mounted linear actuators or generators, depending on the application. The proposed design, which is based on a systematic arrangement of multiple rigid stages and parallelogram flexure modules, is analyzed via nonlinear finite elements analysis (FEA). A proof-of-concept prototype is fabricated to validate the predicted large range and decoupled motion capabilities. The analysis and the hardware prototype demonstrate an XYZ motion range of 10 mm × 10 mm × 10 mm. Over this motion range, the nonlinear FEA predicts cross-axis errors of less than 7.8%, parasitic rotations less than 10.8 mrad, less than 14.4% lost motion, actuator isolation better than 1.5%, and no perceptible motion direction stiffness variation.
An XYZ Parallel-Kinematic Flexure Mechanism With Geometrically Decoupled Degrees of Freedom
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received March 1, 2012; final manuscript received August 17, 2012; published online November 15, 2012. Assoc. Editor: Federico Thomas.
- Views Icon Views
- Share Icon Share
- Cite Icon Cite
- Search Site
Awtar, S., Ustick, J., and Sen, S. (November 15, 2012). "An XYZ Parallel-Kinematic Flexure Mechanism With Geometrically Decoupled Degrees of Freedom." ASME. J. Mechanisms Robotics. February 2013; 5(1): 015001. https://doi.org/10.1115/1.4007768
Download citation file:
- Ris (Zotero)
- Reference Manager