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

    4 Citations (Scopus)
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    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
    Number of pages9
    ISBN (Electronic)978-3-030-23132-3
    ISBN (Print)978-3-030-23131-6
    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
    ISSN (Print)1871-3033


    ConferenceMultibody Dynamics 2019

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