This paper presents parallel kinematic flexure mechanism designs based on systematic constraint patterns that allow large ranges of motion without causing over-constraint or significant error motions. Key performance characteristics of mechanisms such as mobility, cross-axis coupling, parasitic errors, actuator isolation, drive stiffness, lost motion, and geometric sensitivity, are discussed. The standard double parallelogram flexure module is used as a constraint building-block and its nonlinear force-displacement characteristics are employed in analytically predicting the performance characteristics of two proposed flexure mechanism designs. Fundamental performance tradeoffs, including those resulting from the nonlinear load-stiffening and elastokinematic effects, in flexure mechanisms are highlighted. Comparisons between closed-form linear and nonlinear analyses are presented to emphasize the inadequacy of the former. It is shown that geometric symmetry in the constraint arrangement relaxes some of the design tradeoffs, resulting in improved performance. The nonlinear analytical predictions are validated by means of computational finite element analysis and experimental measurements.
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e-mail: shorya@mit.edu
e-mail: slocum@mit.edu
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August 2007
Research Papers
Constraint-Based Design of Parallel Kinematic XY Flexure Mechanisms
Shorya Awtar,
Shorya Awtar
Precision Engineering Research Group,
e-mail: shorya@mit.edu
Massachusetts Institute of Technology
, Cambridge, MA 01239
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Alexander H. Slocum
Alexander H. Slocum
Professor of Mechanical Engineering
Precision Engineering Research Group,
e-mail: slocum@mit.edu
Massachusetts Institute of Technology
, Cambridge, MA 01239
Search for other works by this author on:
Shorya Awtar
Precision Engineering Research Group,
Massachusetts Institute of Technology
, Cambridge, MA 01239e-mail: shorya@mit.edu
Alexander H. Slocum
Professor of Mechanical Engineering
Precision Engineering Research Group,
Massachusetts Institute of Technology
, Cambridge, MA 01239e-mail: slocum@mit.edu
J. Mech. Des. Aug 2007, 129(8): 816-830 (15 pages)
Published Online: May 25, 2006
Article history
Received:
January 17, 2006
Revised:
May 25, 2006
Citation
Awtar, S., and Slocum, A. H. (May 25, 2006). "Constraint-Based Design of Parallel Kinematic XY Flexure Mechanisms." ASME. J. Mech. Des. August 2007; 129(8): 816–830. https://doi.org/10.1115/1.2735342
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