Details
| Original language | English |
|---|---|
| Title of host publication | Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2 |
| Editors | Masafumi Okada |
| Publisher | Springer Science and Business Media B.V. |
| Pages | 869-878 |
| Number of pages | 10 |
| ISBN (electronic) | 978-3-031-45770-8 |
| ISBN (print) | 9783031457692 |
| Publication status | Published - 4 Nov 2023 |
| Event | 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023 - Tokyo, Japan Duration: 5 Nov 2023 → 9 Nov 2023 |
Publication series
| Name | Mechanisms and Machine Science |
|---|---|
| Volume | 148 |
| ISSN (Print) | 2211-0984 |
| ISSN (electronic) | 2211-0992 |
Abstract
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.
Keywords
- Compliant mechanism, Flexure hinges, Parallel robot
ASJC Scopus subject areas
- Engineering(all)
- Mechanics of Materials
- Engineering(all)
- Mechanical Engineering
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Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2. ed. / Masafumi Okada. Springer Science and Business Media B.V., 2023. p. 869-878 (Mechanisms and Machine Science; Vol. 148).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
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 -