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

Robin Cornelissen, Andreas Müller, Ronald Aarts

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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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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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