Design and Modeling of a Novel Tripteron-Inspired Triaxial Parallel Compliant Manipulator with Compact Structure

Yanlin Xie; Yangmin Li; Chifai Cheung

doi:10.3390/mi13050678

Design and Modeling of a Novel Tripteron-Inspired Triaxial Parallel Compliant Manipulator with Compact Structure

Yanlin Xie, Yangmin Li (Corresponding Author), Chifai Cheung

Research output: Journal article publication › Journal article › Academic research › peer-review

2 Citations (Scopus)

Abstract

Compliant mechanisms are popular to the applications of micro/nanoscale manipulations. This paper proposes a novel triaxial parallel-kinematic compliant manipulator inspired by the Tripteron mechanism. Compared to most conventional triaxial compliant mechanisms, the proposed manipulator has the merits of structure compactness and being free of assembly error due to its unique configuration and the utilize of 3D printing technology. The compliance matrix modeling method is employed to determine the input stiffness of the compliant manipulator, and it is verified by finite-element analysis (FEA). Results show that the deviations between simulation works and the derived analytical models are in an acceptable range. The simulation results also reveal that the compliant manipulator can achieve a 16 µm × 16 µm × 16 µm cubic workspace. In this motion range, the observed maximum stress is much lower than the yield strength of the material. Moreover, the dynamic characteristics of the manipulator are investigated via the simulations as well.

Original language	English
Article number	678
Journal	Micromachines
Volume	13
Issue number	5
DOIs	https://doi.org/10.3390/mi13050678
Publication status	Published - May 2022

Keywords

compact structure
compliant manipulator
parallel-kinematic
triaxial
tripteron

ASJC Scopus subject areas

Control and Systems Engineering
Mechanical Engineering
Electrical and Electronic Engineering

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10.3390/mi13050678

Cite this

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title = "Design and Modeling of a Novel Tripteron-Inspired Triaxial Parallel Compliant Manipulator with Compact Structure",

abstract = "Compliant mechanisms are popular to the applications of micro/nanoscale manipulations. This paper proposes a novel triaxial parallel-kinematic compliant manipulator inspired by the Tripteron mechanism. Compared to most conventional triaxial compliant mechanisms, the proposed manipulator has the merits of structure compactness and being free of assembly error due to its unique configuration and the utilize of 3D printing technology. The compliance matrix modeling method is employed to determine the input stiffness of the compliant manipulator, and it is verified by finite-element analysis (FEA). Results show that the deviations between simulation works and the derived analytical models are in an acceptable range. The simulation results also reveal that the compliant manipulator can achieve a 16 µm × 16 µm × 16 µm cubic workspace. In this motion range, the observed maximum stress is much lower than the yield strength of the material. Moreover, the dynamic characteristics of the manipulator are investigated via the simulations as well.",

keywords = "compact structure, compliant manipulator, parallel-kinematic, triaxial, tripteron",

author = "Yanlin Xie and Yangmin Li and Chifai Cheung",

note = "Funding Information: Acknowledgments: The authors would like to express their sincere thanks for the financial support from the State Key Laboratory of Ultra-precision Machining Technology of The Hong Kong Polytechnic University(BBXG) and a grant from the Research Committee of The Hong Kong Polytechnic University under the student account code RK34. Funding Information: Funding: This research was funded by the National Natural Science Foundation of China (Grant No. 51575544). Publisher Copyright: {\textcopyright} 2022 by the authors. Licensee MDPI, Basel, Switzerland.",

year = "2022",

month = may,

doi = "10.3390/mi13050678",

language = "English",

volume = "13",

journal = "Micromachines",

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AU - Xie, Yanlin

AU - Li, Yangmin

AU - Cheung, Chifai

N1 - Funding Information: Acknowledgments: The authors would like to express their sincere thanks for the financial support from the State Key Laboratory of Ultra-precision Machining Technology of The Hong Kong Polytechnic University(BBXG) and a grant from the Research Committee of The Hong Kong Polytechnic University under the student account code RK34. Funding Information: Funding: This research was funded by the National Natural Science Foundation of China (Grant No. 51575544). Publisher Copyright: © 2022 by the authors. Licensee MDPI, Basel, Switzerland.

PY - 2022/5

Y1 - 2022/5

N2 - Compliant mechanisms are popular to the applications of micro/nanoscale manipulations. This paper proposes a novel triaxial parallel-kinematic compliant manipulator inspired by the Tripteron mechanism. Compared to most conventional triaxial compliant mechanisms, the proposed manipulator has the merits of structure compactness and being free of assembly error due to its unique configuration and the utilize of 3D printing technology. The compliance matrix modeling method is employed to determine the input stiffness of the compliant manipulator, and it is verified by finite-element analysis (FEA). Results show that the deviations between simulation works and the derived analytical models are in an acceptable range. The simulation results also reveal that the compliant manipulator can achieve a 16 µm × 16 µm × 16 µm cubic workspace. In this motion range, the observed maximum stress is much lower than the yield strength of the material. Moreover, the dynamic characteristics of the manipulator are investigated via the simulations as well.

AB - Compliant mechanisms are popular to the applications of micro/nanoscale manipulations. This paper proposes a novel triaxial parallel-kinematic compliant manipulator inspired by the Tripteron mechanism. Compared to most conventional triaxial compliant mechanisms, the proposed manipulator has the merits of structure compactness and being free of assembly error due to its unique configuration and the utilize of 3D printing technology. The compliance matrix modeling method is employed to determine the input stiffness of the compliant manipulator, and it is verified by finite-element analysis (FEA). Results show that the deviations between simulation works and the derived analytical models are in an acceptable range. The simulation results also reveal that the compliant manipulator can achieve a 16 µm × 16 µm × 16 µm cubic workspace. In this motion range, the observed maximum stress is much lower than the yield strength of the material. Moreover, the dynamic characteristics of the manipulator are investigated via the simulations as well.

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KW - tripteron

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Design and Modeling of a Novel Tripteron-Inspired Triaxial Parallel Compliant Manipulator with Compact Structure

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Keywords

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