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Kinematics and Dynamic Analysis of a Compliant Parallel Mechanism with Flexible Links for Micro Applications

Yaghoubi, Reza | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 46981 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayyadi, Hassan
  7. Abstract:
  8. In this research dynamic modeling of a 3-DOF (degree of freedom) compliant parallel mechanism with flexible intermediate links has been investigated. Unlike conventional rigid mechanisms that gain their mobility from movable joints, the compliant mechanisms transmit or transform through elastic deformation of flexible members (flexible connector and joint), displacement, force, or energy from input into output. Eliminating clearance, friction, wear and demand of lubrication in compliant mechanisms, and having monolithic structure provides high-precision motion with micro/nanometer level resolution for them. Therefore compliant mechanisms play a significant role in modern technologies such as optical devices, atom force microscopy, X-ray lithography, micro/nano surgery, etc. First, the kinematics of the mechanism is studied. Because the flexure hinges has been used in this mechanism each of the hinges from the pseudo-rigid-body model (PRBM) has been modeled as a revolute joint with an attached torsional spring. Thus, dynamics equations of the robot have been extracted by applying Lagrange multiplier methods. Also, lightweight and flexible links have been modeled as Euler–Bernoulli beam with pinned-pinned boundary conditions and based on the assumed mode method (AMM) in these equations. The dynamics equations have been solved by using the advanced mebdfi numerical method with Maple. The results of numerical solution has been contrasted and validated with the results of finite element model of the mechanism that have been obtained by Abaqus. Moreover, for controlling the path of the robot motion, a proportional and derivative (PD) controller have been utilized and it has been simulated in the Simulink module in Matlab
  9. Keywords:
  10. Parallel Robot ; Dynamic Analysis ; Compliant Mechanism ; Flexure Hinge

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