Experimental Validation of the Kinematic Design of 3PRS Compliant Parallel Mechanisms

In this paper, a procedure for the kinematic design of a 3-PRS compliant parallel manipulator of 3 degrees of freedom is proposed. First, under the assumption of small displacements, the solid body kinematics of the 3-PRS has been studied, performing a comprehensive analysis of the inverse and forwa...

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Autores: Ruiz, Antonio, Campa Gómez, Francisco Javier, Roldán Paraponiaris, Constantino Gregorio, Altuzarra Maestre, Oscar, Pinto Cámara, Charles Richard
Tipo de recurso: artículo
Fecha de publicación:2016
País:España
Institución:Universidad del País Vasco
Repositorio:Addi. Archivo Digital para la Docencia y la Investigación
OAI Identifier:oai:addi.ehu.eus:10810/30761
Acceso en línea:http://hdl.handle.net/10810/30761
Access Level:acceso abierto
Palabra clave:parallel kinematics
compliant mechanisms
flexure joints design
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spelling Experimental Validation of the Kinematic Design of 3PRS Compliant Parallel MechanismsRuiz, AntonioCampa Gómez, Francisco JavierRoldán Paraponiaris, Constantino GregorioAltuzarra Maestre, OscarPinto Cámara, Charles Richardparallel kinematicscompliant mechanismsflexure joints designIn this paper, a procedure for the kinematic design of a 3-PRS compliant parallel manipulator of 3 degrees of freedom is proposed. First, under the assumption of small displacements, the solid body kinematics of the 3-PRS has been studied, performing a comprehensive analysis of the inverse and forward kinematic problem, and calculating the rotations that the revolute and spherical flexure joints must perform. Then, after defining some design requirements and therefore the necessary displacements to fulfill, a design process based on the finite element calculations has been stablished, giving the necessary guidelines to reach the optimal solution on a 3-PRS compliant mechanism. Also, a prototype has been tested, using a coordinate measuring machine to verify its dimensions and the resulting displacements in the end effector and the actuated joints. Finally, those measurements have been compared with the FEM and the rigid body kinematics predictions, contrasting the validity of those two modelling approaches for the kinematic design of compliant mechanisms.The authors of this paper wish to acknowledge the financial support received from the Spanish Government via the Ministerio de Educación y Ciencia (Project DPI2011-22955) and Ministerio de Economía y Competitividad (Project DPI2015-64450-R), the ERDF of the European Union, the Government of the Basque Country (Project GIC07/78, IT445-10 and SAIOTEK 2013 SAI13/245, SPC13UN011), and the University of the Basque Country (Project EHUA13/30 and Zabalduz-2012). Thanks are also addressed to Dr. Jorge Presa and Alfonso Urzainki from Egile Corporation XXI for their valuable contributions.Elsevier201920192016info:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10810/30761reponame:Addi. Archivo Digital para la Docencia y la Investigacióninstname:Universidad del País VascoInglésinfo:eu-repo/grantAgreement/MEC/DPI2011-22955/info:eu-repo/grantAgreement/MINECO/DPI2015-64450-R/https://www.sciencedirect.com/science/article/pii/S0957415816300782info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-nc-nd/3.0/es/(c)2016 Elsevieroai:addi.ehu.eus:10810/307612026-06-18T09:23:17Z
dc.title.none.fl_str_mv Experimental Validation of the Kinematic Design of 3PRS Compliant Parallel Mechanisms
title Experimental Validation of the Kinematic Design of 3PRS Compliant Parallel Mechanisms
spellingShingle Experimental Validation of the Kinematic Design of 3PRS Compliant Parallel Mechanisms
Ruiz, Antonio
parallel kinematics
compliant mechanisms
flexure joints design
title_short Experimental Validation of the Kinematic Design of 3PRS Compliant Parallel Mechanisms
title_full Experimental Validation of the Kinematic Design of 3PRS Compliant Parallel Mechanisms
title_fullStr Experimental Validation of the Kinematic Design of 3PRS Compliant Parallel Mechanisms
title_full_unstemmed Experimental Validation of the Kinematic Design of 3PRS Compliant Parallel Mechanisms
title_sort Experimental Validation of the Kinematic Design of 3PRS Compliant Parallel Mechanisms
dc.creator.none.fl_str_mv Ruiz, Antonio
Campa Gómez, Francisco Javier
Roldán Paraponiaris, Constantino Gregorio
Altuzarra Maestre, Oscar
Pinto Cámara, Charles Richard
author Ruiz, Antonio
author_facet Ruiz, Antonio
Campa Gómez, Francisco Javier
Roldán Paraponiaris, Constantino Gregorio
Altuzarra Maestre, Oscar
Pinto Cámara, Charles Richard
author_role author
author2 Campa Gómez, Francisco Javier
Roldán Paraponiaris, Constantino Gregorio
Altuzarra Maestre, Oscar
Pinto Cámara, Charles Richard
author2_role author
author
author
author
dc.subject.none.fl_str_mv parallel kinematics
compliant mechanisms
flexure joints design
topic parallel kinematics
compliant mechanisms
flexure joints design
description In this paper, a procedure for the kinematic design of a 3-PRS compliant parallel manipulator of 3 degrees of freedom is proposed. First, under the assumption of small displacements, the solid body kinematics of the 3-PRS has been studied, performing a comprehensive analysis of the inverse and forward kinematic problem, and calculating the rotations that the revolute and spherical flexure joints must perform. Then, after defining some design requirements and therefore the necessary displacements to fulfill, a design process based on the finite element calculations has been stablished, giving the necessary guidelines to reach the optimal solution on a 3-PRS compliant mechanism. Also, a prototype has been tested, using a coordinate measuring machine to verify its dimensions and the resulting displacements in the end effector and the actuated joints. Finally, those measurements have been compared with the FEM and the rigid body kinematics predictions, contrasting the validity of those two modelling approaches for the kinematic design of compliant mechanisms.
publishDate 2016
dc.date.none.fl_str_mv 2016
2019
2019
dc.type.none.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10810/30761
url http://hdl.handle.net/10810/30761
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv info:eu-repo/grantAgreement/MEC/DPI2011-22955/
info:eu-repo/grantAgreement/MINECO/DPI2015-64450-R/
https://www.sciencedirect.com/science/article/pii/S0957415816300782
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
(c)2016 Elsevier
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-nc-nd/3.0/es/
(c)2016 Elsevier
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:Addi. Archivo Digital para la Docencia y la Investigación
instname:Universidad del País Vasco
instname_str Universidad del País Vasco
reponame_str Addi. Archivo Digital para la Docencia y la Investigación
collection Addi. Archivo Digital para la Docencia y la Investigación
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869413815845650432
score 15,301603

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