TY - GEN

T1 - Movement Simulation and Analysis of a Compliant Parallel Robot Under Cryogenic Working Conditions

AU - Jahn, Philipp

AU - Gregor, Patrick

AU - Raatz, Annika

PY - 2023/11/4

Y1 - 2023/11/4

N2 - In recent years, compliant mechanisms have increasingly found their way into parallel kinematic robot systems, replacing traditional rigid swivel joints. While swivel joints have positive characteristics, such as high structural stiffness and large rotation angles, they are susceptible to contamination, wear, and jamming. The motion concept of compliant mechanisms is based on the inherent elastic, reversible deformability of individual monolithically manufactured joints (solid-state joints). Since compliant mechanisms rely on the deformation of individual components, it is challenging to solve and model their motion behavior analytically. This paper presents the FEM modeling of a 3 DOF parallel robot with passive universal joints made of monolithic solid joints in ANSYS. Since typical FEM simulations can only adequately represent small deformations and displacements, a framework was developed to address the problems arising from non-linearities, meshing errors, and large deflections. We examine the simulation environment for accuracy and accuracy plausibility. From the simulation data, we generated a model in form of multiple regressions to describe the motion behavior of the parallel robot in the workspace to derive conclusions about the positioning accuracy of the robot under cryogenic working conditions. The results obtained can then be used for optimized calibration and as a basis for feed forward control of the parallel robot.

AB - In recent years, compliant mechanisms have increasingly found their way into parallel kinematic robot systems, replacing traditional rigid swivel joints. While swivel joints have positive characteristics, such as high structural stiffness and large rotation angles, they are susceptible to contamination, wear, and jamming. The motion concept of compliant mechanisms is based on the inherent elastic, reversible deformability of individual monolithically manufactured joints (solid-state joints). Since compliant mechanisms rely on the deformation of individual components, it is challenging to solve and model their motion behavior analytically. This paper presents the FEM modeling of a 3 DOF parallel robot with passive universal joints made of monolithic solid joints in ANSYS. Since typical FEM simulations can only adequately represent small deformations and displacements, a framework was developed to address the problems arising from non-linearities, meshing errors, and large deflections. We examine the simulation environment for accuracy and accuracy plausibility. From the simulation data, we generated a model in form of multiple regressions to describe the motion behavior of the parallel robot in the workspace to derive conclusions about the positioning accuracy of the robot under cryogenic working conditions. The results obtained can then be used for optimized calibration and as a basis for feed forward control of the parallel robot.

KW - Compliant mechanism

KW - Flexure hinges

KW - Parallel robot

UR - http://www.scopus.com/inward/record.url?scp=85177585117&partnerID=8YFLogxK

U2 - 10.1007/978-3-031-45770-8_86

DO - 10.1007/978-3-031-45770-8_86

M3 - Conference contribution

AN - SCOPUS:85177585117

SN - 9783031457692

T3 - Mechanisms and Machine Science

SP - 869

EP - 878

BT - Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2

A2 - Okada, Masafumi

PB - Springer Science and Business Media B.V.

T2 - 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023

Y2 - 5 November 2023 through 9 November 2023

ER -