A compliant-parallel mechanism with bio-inspired compliant joints for high precision assembly robot

نویسندگان

  • Mamoru Mitsuishi
  • Paulo Bartolo
  • Hiroaki Kozuka
  • Jumpei Arata
  • Kenji Okuda
  • Akinori Onaga
  • Motoshi Ohno
  • Akihito Sano
  • Hideo Fujimoto
چکیده

In this paper, we describe a study on compliant-parallel (C-P) mechanism with high precision and wide range of working area using bio-inspired compliant joints. C-P mechanism is a parallel mechanism in which all of joints are composed by wide deformable compliant joints. In the integration of the compliant joint and the parallel mechanism, a deformation of the compliant joint can be guided by mechanical constraints from the parallel mechanism; thus C-P mechanism can be precisely driven. C-P mechanism has no back-lash, requires no lubrication, and is free from machine noise and abrasion power. And, unlike conventional mechanisms, C-P mechanism can be integrated into compact, lightweight, and simple structure. From these backgrounds, we developed a widely deformable circular compliant joint inspired by Drakaea, which is an orchidaceous species. The circular compliant joint was implemented on a 3-DOF (rotational 2 and translational 1 DOF) parallel mechanism as a first prototype. Then, our second prototype was developed to realize further wide range of working area. A serially layered-flat spring compliant joint was developed based on the bio-inspired circular compliant joint, and was implemented on a traditional 3-DOF DELTA mechanism, as the second prototype. From the evaluation tests of these prototypes, the feasibility of C-P mechanism was shown positive to be applied to a high precision assembly robot within a wide range of working area. © 2012 The Authors. Published by Elsevier B.V. Selection and/or peer-review under responsibility of Professor Mamoru Mitsuishi and Professor Paulo Bartolo

برای دسترسی به متن کامل این مقاله و 10 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Biomimetic Spider Leg Joints: A Review from Biomechanical Research to Compliant Robotic Actuators

Due to their inherent compliance, soft actuated joints are becoming increasingly important for robotic applications, especially when human-robot-interactions are expected. Several of these flexible actuators are inspired by biological models. One perfect showpiece for biomimetic robots is the spider leg, because it combines lightweight design and graceful movements with powerful and dynamic act...

متن کامل

Design and analysis of a novel 6-DOF redundant actuated parallel robot with compliant hinges for high precision positioning

This paper presents the design and modeling of a new 6-DOF 8-PSS/SPS compliant dual redundant parallel robot with wide-range flexure hinges. This robot can achieve either high accurate positioning or rough positioning as well as a 6-DOF active vibration isolation and excitation to the payload placed on the moving platform. Adopting a kind of wide-range flexure hinge, we establish the kinematics...

متن کامل

Linkage factors optimization of Multi-outputs of compliant mechanism using Response Surface

This paper presents a linkage factors synthesis and multi-level optimization technique for bi-stable compliant mechanism. The linkage synthesis problem is modeled as multiple level factors and responses optimization problem with constraints. The bi-stable compliant mechanism is modeled as a crank slider mechanism using pseudo-rigid-body model (PRBM). The model exerts the large deflection of fle...

متن کامل

Design and Dynamic Modeling of Planar Parallel Micro-Positioning Platform Mechanism with Flexible Links Based on Euler Bernoulli Beam Theory

This paper presents the dynamic modeling and design of micro motion compliant parallel mechanism with flexible intermediate links and rigid moving platform. Modeling of mechanism is described with closed kinematic loops and the dynamic equations are derived using Lagrange multipliers and Kane’s methods. Euler-Bernoulli beam theory is considered for modeling the intermediate flexible link. Based...

متن کامل

Development of a Piezo-actuated Robot for Cell Injection

In the presented work model and experiments of compliant robots with piezo actuators are carried out. The robot is designed to perform automatic injection of cells in the range of 10-30 μm. A kinematics model of serial-parallel structures is presented. Pseudo rigid body approach is used, where the elastic joints are modelled as revolute joints. Models for tension of parallel structures with ela...

متن کامل

افزودن به منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی راحت تر خواهید کرد

برای دسترسی به متن کامل این مقاله و 10 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2013