A screw theory basis for quantitative and graphical design tools that define layout of actuators to minimize parasitic errors in parallel flexure systems

被引：55

作者：

Hopkins, Jonathan B. ^{[1
]}

Culpepper, Martin L. ^{[1
]}

机构：

[1] MIT, Dept Mech Engn, Cambridge, MA 02139 USA

来源：

PRECISION ENGINEERING-JOURNAL OF THE INTERNATIONAL SOCIETIES FOR PRECISION ENGINEERING AND NANOTECHNOLOGY | 2010年 / 34卷 / 04期

关键词：

Flexure systems; Compliant mechanisms; Actuator placement; Actuation space; Screw theory; Twist-wrench stiffness matrix; DEGREE-OF-FREEDOM; VIBRATION CONTROL; MANIPULATOR; PLACEMENT; MECHANISM; LOCATION; SENSORS;

D O I：

10.1016/j.precisioneng.2010.05.004

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

In this paper we introduce a visual approach for placing actuators within multi-axis parallel flexure systems such that position and orientation errors are minimized. A stiffness matrix, which links twists and wrenches, is used to generate geometric shapes that guide designers in selecting optimal actuator locations and orientations. The geometric shapes, called actuation spaces, enable designers to (i) visualize the regions wherein actuators should be placed so as to minimize errors, (ii) guide designers in selecting these actuators to maximize the decoupling of actuator inputs, and (iii) determine actuator forces and displacements for actuating specific degrees of freedom. These new principles, the means to practice them, and a comparison of theory verses measured behavior, are demonstrated within a case study. (C) 2010 Elsevier Inc. All rights reserved.

引用

页码：767 / 776

页数：10