We present the exact constraint design of a two degrees of freedom cross-flexure-based stage that combines a large workspace to footprint ratio with high vibration mode frequencies. To maximize unwanted vibration mode frequencies the mechanism is an assembly of optimized parts. To ensure a deterministic behavior the assembled mechanism is made exactly constrained. We analyze the kinematics of the mechanism using three methods; Grüblers criterion, opening the kinematic loops, and with a multibody singular value decomposition method. Nine release-flexures are implemented to obtain an exact constraint design. Measurements of the actuation force and natural frequency show no bifurcation, and load stiffening is minimized, even though there are various errors causing nonlinearity. Misalignment of the exact constraint designs does not lead to large stress, it does however decrease the support stiffness significantly. We conclude that designing an assembled mechanism in an exactly constrained manner leads to predictable stiffnesses and modal frequencies.
Exact Constraint Design of a Two-Degree of Freedom Flexure-Based Mechanism1
Faculty of Engineering Technology,
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received February 8, 2013; final manuscript received July 19, 2013; published online September 11, 2013. Assoc. Editor: Philippe Wenger.
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Brouwer, D. M., Folkersma, (. K. G. P., Boer, S. E., and Aarts, R. G. K. M. (September 11, 2013). "Exact Constraint Design of a Two-Degree of Freedom Flexure-Based Mechanism." ASME. J. Mechanisms Robotics. November 2013; 5(4): 041011. https://doi.org/10.1115/1.4025175
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