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Compliance modeling of a full 6-DOF series–parallel flexure-based Stewart platform-like micromanipulator

Published online by Cambridge University Press:  22 March 2022

Suraj Kumar Mishra Open the ORCID record for Suraj Kumar Mishra [Opens in a new window]  and
Cheruvu Siva Kumar
Suraj Kumar Mishra*
Affiliation:
Robotics and Intelligent Systems Laboratory, Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, India
Cheruvu Siva Kumar
Affiliation:
Robotics and Intelligent Systems Laboratory, Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, India
*
*Corresponding author. E-mail: [email protected]; [email protected]
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Abstract

With many micromanipulator designs emerging in micro and nanosystem applications, the element of compliance in the mechanisms is gaining attention. Several designs consider motions limited in a plane for high accuracy and repeatability as needed in micro/nano manipulation applications. Extending this to a full spatial configuration with coupled motions of series and parallel linkages with flexure joints of 1-degree-of-freedom (DOF) and 3-DOF needs a systematic analytical approach. One such approach for compliance analysis is presented in this article for a mechanism designed at Indian Institute of Technology Kharagpur. To validate the analytical models, finite element analysis simulations are performed with the help of the Abaqus-6.14 software package. Following the successful validation, the effect of structural parameters on the performance is presented with the help of the analytical expressions. We explore the performance of the mechanism with different dimensions of flexures of a particular type. Results indicate that the design with dissimilar dimensional parameters can give superior performance.

Keywords

Stewart platformcompliant parallel micromanipulatorcompliance modelingstiffness modelingmatrix methodFEA
Type
Research Article
Information
Robotica , Volume 40 , Issue 10 , October 2022 , pp. 3435 - 3462
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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