TY - JOUR
T1 - Design of four-dof compliant parallel manipulators considering maximum kinematic decoupling for fast steering mirrors
AU - Hao, Guangbo
AU - Li, Haiyang
AU - Chang, Yu Hao
AU - Liu, Chien Sheng
N1 - Funding Information:
Funding: This research was funded by the Ministry of Science and Technology of Taiwan under Grant No. MOST 105-2221-E-006-265-MY5, the Fundamental Research Funds for the Central Universities of China (No. N180304019) and the National Natural Science Foundation of China (No. 51975108).
Publisher Copyright:
© 2021 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2021/11
Y1 - 2021/11
N2 - Laser beams can fluctuate in four directions, which requires active compensation by a fast steering mirror (FSM) motion system. This paper deals with the design of four-degrees-of-freedom (DoF) compliant parallel manipulators, for responding to the requirements of the FSM. In order to simplify high-precision control in parallel manipulators, maximum kinematic decoupling is always desired. A constraint map method is used to propose the four required DoF with the consideration of maximum kinematic decoupling. A specific compliant mechanism is presented based on the constraint map, and its kinematics is estimated analytically. Finite element analysis demonstrates the desired qualitative motion and provides some initial quantitative analysis. A normalization-based compliance matrix is finally derived to verify and demonstrate the mobility of the system clearly. In a case study, the results of normalization-based compliance matrix modelling show that the diagonal entries corresponding to the four DoF directions are about 10 times larger than those corresponding to the two-constraint directions, validating the desired mobility.
AB - Laser beams can fluctuate in four directions, which requires active compensation by a fast steering mirror (FSM) motion system. This paper deals with the design of four-degrees-of-freedom (DoF) compliant parallel manipulators, for responding to the requirements of the FSM. In order to simplify high-precision control in parallel manipulators, maximum kinematic decoupling is always desired. A constraint map method is used to propose the four required DoF with the consideration of maximum kinematic decoupling. A specific compliant mechanism is presented based on the constraint map, and its kinematics is estimated analytically. Finite element analysis demonstrates the desired qualitative motion and provides some initial quantitative analysis. A normalization-based compliance matrix is finally derived to verify and demonstrate the mobility of the system clearly. In a case study, the results of normalization-based compliance matrix modelling show that the diagonal entries corresponding to the four DoF directions are about 10 times larger than those corresponding to the two-constraint directions, validating the desired mobility.
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U2 - 10.3390/act10110292
DO - 10.3390/act10110292
M3 - Article
AN - SCOPUS:85119055247
SN - 2076-0825
VL - 10
JO - Actuators
JF - Actuators
IS - 11
M1 - 292
ER -