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Output decoupling modeling of a XY flexure-based compliant manipulator

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Abstract

This paper presents the coupling stiffness modeling of an XY flexure-based manipulator. Stiffness/compliance equations for compliant mechanisms are first obtained. According to a simplified spring model, the input stiffness and coupling stiffness of the proposed manipulator consisting of outer and inner kinematic chains are then derived. This simplified spring model is composed of four parallel chains, such as the left, lower, upper and right parallel chain. Subsequently, the external force/moment and the output displacement of the manipulator are analyzed by using finite element analysis (FEA). Finally, a prototype of the manipulator is fabricated. Its motion range and the corresponding cross-coupling displacements are measured, and thus the cross-coupling ratios can be derived. It demonstrates that the manipulator possesses good decoupling characteristic, and the proposed theoretical model is reasonable and accurate.

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Acknowledgements

This work was supported by Beijing Natural Science Foundation (3194044), and Beijing Postdoctoral Research Foundation of China (2017-ZZ-034).

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Authors and Affiliations

  1. College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, 100124, China

    Yunsong Du

  2. Manufacturing Engineering Institute, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Tiemin Li

Authors
  1. Yunsong Du
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  2. Tiemin Li
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Correspondence to Yunsong Du.

Additional information

Recommended by Editor Chang-Soo Han

Yunsong Du is a lecturer in the College of Mechanical Engineering and Applied Electronics Technology at Beijing University of Technology. He earned his Ph.D. in 2017 from Tsinghua University. His research interests lie in flexurebased compliant mechanisms.

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Du, Y., Li, T. Output decoupling modeling of a XY flexure-based compliant manipulator. J Mech Sci Technol 34, 269–277 (2020). https://doi.org/10.1007/s12206-019-1228-7

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  • DOI: https://doi.org/10.1007/s12206-019-1228-7

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