A Compliant and Redundantly Actuated 2-DOF 3RRR PKM: Best of Both Worlds?

Robin Cornelissen, Andreas Müller, Ronald Aarts*

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

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    Abstract

    Due to their deterministic behaviour, compliant mechanisms are well-suited for high-precision applications. In this paper the benefits of redundant links and actuation are investigated in terms of increasing support stiffness and homogenising actuator loads. The manipulator is modelled with lumped inertia properties of the links and non-linear relations for the joint stiffnesses. The lumped parameter model allows a fast system level performance optimisation of the joint geometry simultaneously exploiting joint pre-bending and preloading, where the stiffness matrices of all joints are computed numerically efficient with non-linear flexible beam elements. This model is applied to optimise the design of a compliant and redundantly actuated 2-DOF 3RRR parallel kinematic manipulator. The improvement of support stiffness is demonstrated with an analysis of the first parasitic natural frequency. Balancing of the actuator torques is concluded from a potential energy analysis.

    Original languageEnglish
    Title of host publicationMultibody Dynamics 2019
    Subtitle of host publicationProceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics
    EditorsAndrés Kecskeméthy, Francisco Geu Flores
    PublisherSpringer Nature
    Pages163-171
    Number of pages9
    ISBN (Electronic)978-3-030-23132-3
    ISBN (Print)978-3-030-23131-6
    DOIs
    Publication statusPublished - 8 Aug 2019
    EventMultibody Dynamics 2019: 9th ECCOMAS Thematic Conference - University of Duisburg-Essen, Duisburg, Germany
    Duration: 15 Jul 201918 Jul 2019

    Publication series

    NameComputational Methods in Applied Sciences
    Volume53
    ISSN (Print)1871-3033

    Conference

    ConferenceMultibody Dynamics 2019
    CountryGermany
    CityDuisburg
    Period15/07/1918/07/19

    Fingerprint

    Stiffness
    Manipulator
    Manipulators
    Actuator
    Actuators
    Compliant mechanisms
    Lumped Parameter Model
    Flexible Beam
    Compliant Mechanism
    Performance Optimization
    Stiffness matrix
    Stiffness Matrix
    Potential energy
    Natural Frequency
    Balancing
    Inertia
    Torque
    Loads (forces)
    Natural frequencies
    Kinematics

    Cite this

    Cornelissen, R., Müller, A., & Aarts, R. (2019). A Compliant and Redundantly Actuated 2-DOF 3RRR PKM: Best of Both Worlds? In A. Kecskeméthy, & F. Geu Flores (Eds.), Multibody Dynamics 2019: Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics (pp. 163-171). (Computational Methods in Applied Sciences; Vol. 53). Springer Nature. https://doi.org/10.1007/978-3-030-23132-3_20
    Cornelissen, Robin ; Müller, Andreas ; Aarts, Ronald. / A Compliant and Redundantly Actuated 2-DOF 3RRR PKM : Best of Both Worlds?. Multibody Dynamics 2019: Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics. editor / Andrés Kecskeméthy ; Francisco Geu Flores. Springer Nature, 2019. pp. 163-171 (Computational Methods in Applied Sciences).
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    author = "Robin Cornelissen and Andreas M{\"u}ller and Ronald Aarts",
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    Cornelissen, R, Müller, A & Aarts, R 2019, A Compliant and Redundantly Actuated 2-DOF 3RRR PKM: Best of Both Worlds? in A Kecskeméthy & F Geu Flores (eds), Multibody Dynamics 2019: Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics. Computational Methods in Applied Sciences, vol. 53, Springer Nature, pp. 163-171, Multibody Dynamics 2019, Duisburg, Germany, 15/07/19. https://doi.org/10.1007/978-3-030-23132-3_20

    A Compliant and Redundantly Actuated 2-DOF 3RRR PKM : Best of Both Worlds? / Cornelissen, Robin; Müller, Andreas; Aarts, Ronald.

    Multibody Dynamics 2019: Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics. ed. / Andrés Kecskeméthy; Francisco Geu Flores. Springer Nature, 2019. p. 163-171 (Computational Methods in Applied Sciences; Vol. 53).

    Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

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    AB - Due to their deterministic behaviour, compliant mechanisms are well-suited for high-precision applications. In this paper the benefits of redundant links and actuation are investigated in terms of increasing support stiffness and homogenising actuator loads. The manipulator is modelled with lumped inertia properties of the links and non-linear relations for the joint stiffnesses. The lumped parameter model allows a fast system level performance optimisation of the joint geometry simultaneously exploiting joint pre-bending and preloading, where the stiffness matrices of all joints are computed numerically efficient with non-linear flexible beam elements. This model is applied to optimise the design of a compliant and redundantly actuated 2-DOF 3RRR parallel kinematic manipulator. The improvement of support stiffness is demonstrated with an analysis of the first parasitic natural frequency. Balancing of the actuator torques is concluded from a potential energy analysis.

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    Cornelissen R, Müller A, Aarts R. A Compliant and Redundantly Actuated 2-DOF 3RRR PKM: Best of Both Worlds? In Kecskeméthy A, Geu Flores F, editors, Multibody Dynamics 2019: Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics. Springer Nature. 2019. p. 163-171. (Computational Methods in Applied Sciences). https://doi.org/10.1007/978-3-030-23132-3_20