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Design of the 2 D.o.F Compliant Positioning Device Based on the Straight-Line Watt’s Mechanisms

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Mechanism Design for Robotics (MEDER 2021)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 103))

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Abstract

The first inspiration in designing any compliant mechanisms usually provides classic kinematic structures with revolute joints. This paper deals with the design of the X-Y micro-positioning device inspired by specific Watt’s configuration. Such arrangement enables straight-line compliant motions of the endplate in a given range. Considering that, the proposed mechanism is symmetric enables simplified calculation of the kinematic and stiffness analyses that are indicated in this work. The optimized device enables motion in actuated axis with minimal parasitic displacements that are less than 0.65% for the maximum displacement. A short review of compliant structures inspired by straight-line linkages is given.

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Acknowledgment

This work was supported by the national scientific grant agency VEGA under project No.: 2/0155/19 – “Processing sensory data via Artificial Intelligence methods” and by project APVV-14-0076 – “MEMS structures based on load cell”.

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Authors and Affiliations

  1. Institute of Informatics, Slovak Academy of Sciences, Banská Bystrica, Slovakia

    Jaroslav Hricko & Stefan Havlik

Authors
  1. Jaroslav Hricko
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  2. Stefan Havlik
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Corresponding author

Correspondence to Jaroslav Hricko .

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Editors and Affiliations

  1. SP2MI - Site du Futuroscope, University of Poitiers, Poitiers Cedex 9, France

    Saïd Zeghloul

  2. SP2MI - Site du Futuroscope, University of Poitiers, Poitiers Cedex 9, France

    Med Amine Laribi

  3. SP2MI - Site du Futuroscope, University of Poitiers, Poitiers Cedex 9, France

    Marc Arsicault

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Hricko, J., Havlik, S. (2021). Design of the 2 D.o.F Compliant Positioning Device Based on the Straight-Line Watt’s Mechanisms. In: Zeghloul, S., Laribi, M.A., Arsicault, M. (eds) Mechanism Design for Robotics. MEDER 2021. Mechanisms and Machine Science, vol 103. Springer, Cham. https://doi.org/10.1007/978-3-030-75271-2_26

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