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

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

6 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
ページ2519-2524
ページ数6
DOI
出版ステータス出版済み - 2012
外部発表はい
イベント25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, ポルトガル
継続期間: 10月 7 201210月 12 2012

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

その他

その他25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
国/地域ポルトガル
CityVilamoura, Algarve
Period10/7/1210/12/12

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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