Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/171760
Title: Synthesis of compliant parallel mechanisms using an improved beam-based method with the optimization of multiple resonant modes
Authors: Low, Vin
Yeo, Song Huat
Pham, Minh Tuan
Keywords: Engineering::Mechanical engineering
Issue Date: 2023
Source: Low, V., Yeo, S. H. & Pham, M. T. (2023). Synthesis of compliant parallel mechanisms using an improved beam-based method with the optimization of multiple resonant modes. Machines, 11(7), 731-. https://dx.doi.org/10.3390/machines11070731
Journal: Machines 
Abstract: This paper proposes an improved beam-based method to synthesize a compliant parallel mechanism (CPM) with multiple degrees of freedom (DoFs). The proposed method utilizes a structural optimization technique to synthesize a three-legged CPM with a single-beam structure constructed by two perpendicular segments in each leg to achieve the desired DoFs and fully decoupled motion. In addition, an objective function is proposed to optimize the primary resonant frequencies in actuating directions to targeted values to achieve the desired dynamic behaviors. A 4-DoF CPM, with one translation and three rotations, is synthesized using the improved beam-based method and all of the primary resonant frequencies are optimized to the targeted values. The 4-DoF CPM prototype is fabricated monolithically and evaluated experimentally in terms of its mechanical characteristics, workspace, and resonant modes. The obtained results show that the experimental stiffness and dynamic properties agree with the predictions. In particular, the prototype has good motion decoupling capability, as reflected by the high stiffness ratios of more than 500 between the non-actuating and actuating directions; the large workspaces of up to 4.0 mm and 7.2° for the translation and rotations, respectively; and the resonant frequencies being close to the targeted ones. In addition, the highest deviations between the predicted and experimental results are 9.49% and 9.13% for the stiffness and dynamic behaviors, respectively, demonstrating the correctness and effectiveness of the proposed method.
URI: https://hdl.handle.net/10356/171760
ISSN: 2075-1702
DOI: 10.3390/machines11070731
Schools: School of Mechanical and Aerospace Engineering 
Rights: © 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https:// creativecommons.org/licenses/by/ 4.0/).
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Journal Articles

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