A compact 3-DOF compliant serial mechanism for trajectory tracking with flexures made by rapid prototyping

To fulfill the needs for accurate trajectory tracking with large displacement in a handheld instrument, a 3-DOF serial compliant mechanism is developed. The mechanism is compact with a total length less than 150 mm and a maximum diameter of 22 mm. Two flexures are developed using different rapid pro...

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Main Authors: Zhao, Su, Aye, Yan Naing, Shee, Cheng Yap, Chen, I-Ming, Ang, Wei Tech
Other Authors: School of Mechanical and Aerospace Engineering
Format: Conference or Workshop Item
Language:English
Published: 2013
Online Access:https://hdl.handle.net/10356/101265
http://hdl.handle.net/10220/11081
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1012652020-03-07T13:26:33Z A compact 3-DOF compliant serial mechanism for trajectory tracking with flexures made by rapid prototyping Zhao, Su Aye, Yan Naing Shee, Cheng Yap Chen, I-Ming Ang, Wei Tech School of Mechanical and Aerospace Engineering International Conference on Robotics and Automation (2012 : Saint Paul, Minnesota, US) To fulfill the needs for accurate trajectory tracking with large displacement in a handheld instrument, a 3-DOF serial compliant mechanism is developed. The mechanism is compact with a total length less than 150 mm and a maximum diameter of 22 mm. Two flexures are developed using different rapid prototyping techniques: one 3-DOF flexural lever made of Vero-Gray by Polyjet and a 1-DOF translational flexure made of stainless steel by Direct Metal Laser Sintering (DMLS). Analytical and Finite Element (FE) models are developed for the proposed flexural mechanisms. Experiments are conducted on a prototype. To improve the tracking accuracy, the hysteretic nonlinearities of the system are modeled using Prandtl-Ishlinskii model. Inverse feedforward controller is implemented to linearize the relationship between input and output. The tracking errors are reduced while maintaining a fast response of the system. The total tracking errors are identified individually for each axis and then compensated. Tracking performances of the tool tip are evaluated experimentally with different inputs. The RMS tracking error of the proposed mechanism is lower than 1 μm in all axes, which is improved more than four times compared to the previous systems. 2013-07-10T02:24:51Z 2019-12-06T20:35:48Z 2013-07-10T02:24:51Z 2019-12-06T20:35:48Z 2012 2012 Conference Paper Zhao, S., Aye, Y. N., Shee, C. Y., Chen, I.-M., & Ang, W. T. (2012). A compact 3-DOF compliant serial mechanism for trajectory tracking with flexures made by rapid prototyping. 2012 IEEE International Conference on Robotics and Automation (ICRA), 4475-4480. https://hdl.handle.net/10356/101265 http://hdl.handle.net/10220/11081 10.1109/ICRA.2012.6225138 en © 2012 IEEE.
institution Nanyang Technological University
building NTU Library
country Singapore
collection DR-NTU
language English
description To fulfill the needs for accurate trajectory tracking with large displacement in a handheld instrument, a 3-DOF serial compliant mechanism is developed. The mechanism is compact with a total length less than 150 mm and a maximum diameter of 22 mm. Two flexures are developed using different rapid prototyping techniques: one 3-DOF flexural lever made of Vero-Gray by Polyjet and a 1-DOF translational flexure made of stainless steel by Direct Metal Laser Sintering (DMLS). Analytical and Finite Element (FE) models are developed for the proposed flexural mechanisms. Experiments are conducted on a prototype. To improve the tracking accuracy, the hysteretic nonlinearities of the system are modeled using Prandtl-Ishlinskii model. Inverse feedforward controller is implemented to linearize the relationship between input and output. The tracking errors are reduced while maintaining a fast response of the system. The total tracking errors are identified individually for each axis and then compensated. Tracking performances of the tool tip are evaluated experimentally with different inputs. The RMS tracking error of the proposed mechanism is lower than 1 μm in all axes, which is improved more than four times compared to the previous systems.
author2 School of Mechanical and Aerospace Engineering
author_facet School of Mechanical and Aerospace Engineering
Zhao, Su
Aye, Yan Naing
Shee, Cheng Yap
Chen, I-Ming
Ang, Wei Tech
format Conference or Workshop Item
author Zhao, Su
Aye, Yan Naing
Shee, Cheng Yap
Chen, I-Ming
Ang, Wei Tech
spellingShingle Zhao, Su
Aye, Yan Naing
Shee, Cheng Yap
Chen, I-Ming
Ang, Wei Tech
A compact 3-DOF compliant serial mechanism for trajectory tracking with flexures made by rapid prototyping
author_sort Zhao, Su
title A compact 3-DOF compliant serial mechanism for trajectory tracking with flexures made by rapid prototyping
title_short A compact 3-DOF compliant serial mechanism for trajectory tracking with flexures made by rapid prototyping
title_full A compact 3-DOF compliant serial mechanism for trajectory tracking with flexures made by rapid prototyping
title_fullStr A compact 3-DOF compliant serial mechanism for trajectory tracking with flexures made by rapid prototyping
title_full_unstemmed A compact 3-DOF compliant serial mechanism for trajectory tracking with flexures made by rapid prototyping
title_sort compact 3-dof compliant serial mechanism for trajectory tracking with flexures made by rapid prototyping
publishDate 2013
url https://hdl.handle.net/10356/101265
http://hdl.handle.net/10220/11081
_version_ 1681044031357845504