A completely kinematostatically decoupled XY compliant parallel manipulator through new topology structure

This paper deals with a completely kinematostaticaly decoupled XY compliant parallel manipulator (CPM) composed of exactly-constrained compliant modules. A new 4-PP XY translational parallel mechanism (TPM) with a new topology structure is firstly proposed where each two P (P: prismatic) joints on the base in two non-adjacent legs are rigidly connected. A novel 4-PP XY CPM is then obtained by replacing each traditional P join on the base in the 4-PP XY TPM with a compound basic parallelogram module (CBPM) and replacing each traditional P joint on the motion stage with a basic parallelogram module (BPM). Approximate analytical model is derived with comparison to the FEA (finite element analysis) model and experiment for a case study. The proposed novel XY CPM has a compact configuration with good dynamics, and is able to well constrain the parasitic rotation and the cross-axis coupling of the motion stage. The cross-axis motion of the input stage can be completely eliminated, and the lost motion between the input stage and the motion stage is significantly reduced

Design and analysis of a compliant parallel pan-tilt platform

In combination of the advantages of both parallel mechanisms and compliant mechanisms, a compliant parallel mechanism with two rotational DOFs (degrees of freedom) is designed to meet the requirement of a lightweight and compact pan-tilt platform. Firstly, two commonly-used design methods i.e. direct substitution and FACT (Freedom and Constraint Topology) are applied to design the configuration of the pan-tilt system, and similarities and differences of the two design alternatives are compared. Then inverse kinematic analysis of the candidate mechanism is implemented by using the pseudo-rigid-body model (PRBM), and the Jacobian related to its differential kinematics is further derived to help designer realize dynamic analysis of the 8R compliant mechanism. In addition, the mechanism’s maximum stress existing within its workspace is tested by finite element analysis. Finally, a method to determine joint damping of the flexure hinge is presented, which aims at exploring the effect of joint damping on actuator selection and real-time control. To the authors’ knowledge, almost no existing literature concerns with this issue

Underwater vibration and acoustic radiation calculation of double cylindrical shell by three-dimensional sono-elasticity of ships

As common structure of underwater vehicle, the accurate prediction of underwater vibration and acoustic radiation of double cylindrical shell is always a difficult problem in the research of vibration and noise. Establish finite element model of double cylindrical shell in Abaqus software. Based on the three-dimensional sono-elasticity theory of ships, analysis vibration and acoustic radiation characteristics of underwater double cylindrical shell by the use of Thafts-acoustic software, and compared with experimental result. Results show that error of prediction result and experiment result at single frequency point is about 10 %~20 %, and error of total level of acceleration and sound pressure is less than 5 dB. It is accurate to predict the underwater vibration and acoustic radiation characteristics of double cylindrical shell with three-dimensional sono-elasticity theory of ships, which can provide new effective guidance for the engineering application

Dark-bright gap solitons in coupled-mode one-dimensional saturable waveguide arrays

In the present work, we consider the dynamics of dark solitons as one mode of a defocusing photorefractive lattice coupled with bright solitons as a second mode of the lattice. Our investigation is motivated by an experiment which illustrates that such coupled states can exist with both components in the first gap of the linear band spectrum. This finding is further extended by the examination of different possibilities from a theoretical perspective, such as symbiotic ones where the bright component is supported by states of the dark component in the first or second gap, or non-symbiotic ones where the bright soliton is also a first-gap state coupled to a first or second gap state of the dark component. While the obtained states are generally unstable, these instabilities typically bear fairly small growth rates which enable their observation for experimentally relevant propagation distances

Understanding coupled factors that affect the modelling accuracy of typical planar compliant mechanisms

In order to accurately model compliant mechanism utilizing plate flexures, qualitative planar stress (Young’s modulus) and planar strain (plate modulus) assumptions are not feasible. This paper investigates a quantitative equivalent modulus using nonlinear finite element analysis (FEA) to reflect coupled factors in affecting the modelling accuracy of two typical distributed- compliance mechanisms. It has been shown that all parameters have influences on the equivalent modulus with different degrees; that the presence of large load-stiffening effect makes the equivalent modulus significantly deviate from the planar assumptions in two ideal scenarios; and that a plate modulus assumption is more reasonable for a very large out-of-plane thickness if the beam length is large

Compliance synthesis of a class of planar compliant parallelogram mechanisms using the position space concept

Compliant mechanisms can be reconfigured with variation of compliance performance, by changing the positions of each compliant module thereof within its position space. This paper synthesizes the compliance of two types of parallelogram mechanisms by changing the positions of compliant joints within their position spaces. Through analytical modelling, detailed analysis is implemented to uncover the influence of positions on compliance characteristics. Finally, some desired designs are presented

DETC2005/MECH-85241 DYNAMIC MODELING AND CONTROLLER DESIGN OF A PLANAR PARALLEL 3-RRR COMPLIANT MICROMANIPULATOR

ABSTRACT This paper presents control system formulations of a planar parallel 3-RRR parallel compliant micromanipulator. The design methodology is illustrated with one of such designs constructed at Beijing University of Aeronautics and Astronautics, China. Compliant joints and motion-amplifying mechanism allow rapid and accurate response as well as larger workspace. The three PZT actuators attached on the linkages produce the bending moments. The sensor is a CCD camera feeding back the tool point position. The plant is the equations of motion which can be formulated using the Lagrangian method and dynamics software. The system dynamic model was developed with ADAMS which can export the nonlinear and linearized control plant to Matlab Simulink. Overall dynamic behavior of the manipulator will be illustrated through simulations with Matlab Simulink Toolbox. After comparison of two different control plans, the controller obtained from LQR method was chosen to achieve the control objectives. Closed-loop performance in response to a step reference was plotted. Bode plots of the sensitivity and complementary sensitivity showed their relation to the step response. Gain and phase margins was computed

Design and stiffness analysis of a class of 2-DoF tendon driven parallel kinematics mechanism

2-DoF Rotational mechanism is increasingly utilized in a large range of industrial applications. However, the structures of most of the existing mechanisms are very complex, which is a significant challenge for building them, due to the tight tolerance and assembly difficulties. In this paper, a class of 2-DoF tendon driven parallel kinematics mechanisms (TDPKM) are introduced, which can be structured with low manufacturing and assembly difficulties and is able to actively adjust the system stiffness. Since the unique class of mechanisms is developed, the kinematic model is established to derive the stiffness model, which considers the tendon, structural and central joint stiffness. Finally, a set of experiments of the deviation measurement under different payloads within the workspace are implemented and compared with the theoretical calculations presented in this paper. The overall deviation error between the experimental test and theoretical calculation are between 0.9% and 4.7% in the whole workspace

Damage Detection in Active Suspension Bridges: An Experimental Investigation

This paper considers a Hilbert marginal spectrum-based approach to health monitoring of active suspension bridge hangers. The paper proposes to takes advantage of the presence of active cables and use them as an excitation mean of the bridge, while they are used for active damping. The Hilbert–Huang transform is used to calculate the Hilbert marginal spectrum and establish a damage index for each hanger of the suspension bridge. The paper aims to investigate the method experimentally, through a series of damage scenarios, on a laboratory suspension bridge mock-up equipped with four active cables; each active cable is made of a displacement actuator collocated with a force sensor. Different locations and levels of damage severity are implemented. For the first time, the investigation demonstrates experimentally the effectiveness of the technique, as well as its limitations, to detect and locate the damage in hangers of a suspension bridge.SCOPUS: ar.jinfo:eu-repo/semantics/publishe