Compliant-parallel mechanism for high precision machine with a wide range of working area

Hiroaki Kozuka, Jumpei Arata, Kenji Okuda, Akinori Onaga, Motoshi Ohno, Akihito Sano, Hideo Fujimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

In this paper, we introduce a further optimization of morphology of compliant joint based on FEM analysis for a compliant-parallel mechanism with a wide working area and a high accuracy. Compliant-parallel mechanism is the mechanism that all joints are composed by compliant joints in a parallel structure. In the integration of compliant and parallel mechanism, the motion of compliant joints can be guided by mechanical constraints from the parallel structure; thus the mechanism can be precisely driven. However, since compliant joints generally have a limited working area due to limitation in their structural deformation, the working area is commonly limited in micrometer-scale. Designing the compliant joints within a wide range of working area presents us a new challenge: the joints should be elastic for the desired direction, but also rigid for non-desired direction to be deformed. From these requirements, the morphology of the compliant joint was optimized by FEM analysis, and newly serially layered-flat spring compliant joint was developed. The developed compliant joint was implemented on a parallel mechanism as a high precision micro-assembly system for optical components. The prototype enabled 50×50×5 mm of working area within 0.71 mm of repeatable accuracy. From these results, the effectiveness of the morphological optimization for compliant joint was shown.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages2519-2524
Number of pages6
DOIs
Publication statusPublished - Dec 1 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period10/7/1210/12/12

Fingerprint

Finite element method

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Kozuka, H., Arata, J., Okuda, K., Onaga, A., Ohno, M., Sano, A., & Fujimoto, H. (2012). Compliant-parallel mechanism for high precision machine with a wide range of working area. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 2519-2524). [6386108] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6386108

Compliant-parallel mechanism for high precision machine with a wide range of working area. / Kozuka, Hiroaki; Arata, Jumpei; Okuda, Kenji; Onaga, Akinori; Ohno, Motoshi; Sano, Akihito; Fujimoto, Hideo.

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. 2012. p. 2519-2524 6386108 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kozuka, H, Arata, J, Okuda, K, Onaga, A, Ohno, M, Sano, A & Fujimoto, H 2012, Compliant-parallel mechanism for high precision machine with a wide range of working area. in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012., 6386108, IEEE International Conference on Intelligent Robots and Systems, pp. 2519-2524, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 10/7/12. https://doi.org/10.1109/IROS.2012.6386108
Kozuka H, Arata J, Okuda K, Onaga A, Ohno M, Sano A et al. Compliant-parallel mechanism for high precision machine with a wide range of working area. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. 2012. p. 2519-2524. 6386108. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6386108
Kozuka, Hiroaki ; Arata, Jumpei ; Okuda, Kenji ; Onaga, Akinori ; Ohno, Motoshi ; Sano, Akihito ; Fujimoto, Hideo. / Compliant-parallel mechanism for high precision machine with a wide range of working area. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. 2012. pp. 2519-2524 (IEEE International Conference on Intelligent Robots and Systems).
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