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

Robin Cornelissen; Andreas Müller; Ronald Aarts

doi:10.1007/978-3-030-23132-3_20

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 proceeding › Chapter › Academic › peer-review

4 Citations (Scopus)

7 Downloads (Pure)

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 language	English
Title of host publication	Multibody Dynamics 2019
Subtitle of host publication	Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics
Editors	Andrés Kecskeméthy, Francisco Geu Flores
Publisher	Springer
Pages	163-171
Number of pages	9
ISBN (Electronic)	978-3-030-23132-3
ISBN (Print)	978-3-030-23131-6
DOIs	https://doi.org/10.1007/978-3-030-23132-3_20
Publication status	Published - 8 Aug 2019
Event	Multibody Dynamics 2019: 9th ECCOMAS Thematic Conference - University of Duisburg-Essen, Duisburg, Germany Duration: 15 Jul 2019 → 18 Jul 2019

Publication series

Name	Computational Methods in Applied Sciences
Volume	53
ISSN (Print)	1871-3033

Conference

Conference	Multibody Dynamics 2019
Country/Territory	Germany
City	Duisburg
Period	15/07/19 → 18/07/19

Access to Document

10.1007/978-3-030-23132-3_20

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. https://doi.org/10.1007/978-3-030-23132-3_20

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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.",

author = "Robin Cornelissen and Andreas M{\"u}ller and Ronald Aarts",

year = "2019",

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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, 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, 2019. p. 163-171 (Computational Methods in Applied Sciences; Vol. 53).

Research output: Chapter in Book/Report/Conference proceeding › Chapter › Academic › peer-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. 2019. p. 163-171. (Computational Methods in Applied Sciences). Epub 2019 Jun 28. doi: 10.1007/978-3-030-23132-3_20