Synthesis and evaluation of a high precision 3D-printed Ti6Al4V compliant parallel manipulator

A novel 3D printed compliant parallel manipulator (CPM) with θX − θX − Z motions is presented in this paper. This CPM is synthesized using the beam-based method, a new structural optimization approach, to achieve optimized stiffness properties with targeted dynamic behavior. The CPM performs high no...

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Main Authors: Wang, Pan, Pham, Minh Tuan, Teo, Tat Joo, Yeo, Song Huat, Na, Sharon Mui Ling
Other Authors: School of Mechanical and Aerospace Engineering
Format: Article
Language:English
Published: 2018
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Online Access:https://hdl.handle.net/10356/88936
http://hdl.handle.net/10220/46047
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-889362023-03-04T17:14:32Z Synthesis and evaluation of a high precision 3D-printed Ti6Al4V compliant parallel manipulator Wang, Pan Pham, Minh Tuan Teo, Tat Joo Yeo, Song Huat Na, Sharon Mui Ling School of Mechanical and Aerospace Engineering Singapore Centre for 3D Printing Compliant Parallel Manipulator (CPM) DRNTU::Engineering::Mechanical engineering 3D-Printing A novel 3D printed compliant parallel manipulator (CPM) with θX − θX − Z motions is presented in this paper. This CPM is synthesized using the beam-based method, a new structural optimization approach, to achieve optimized stiffness properties with targeted dynamic behavior. The CPM performs high non-actuating stiffness based on the predicted stiffness ratios of about 3600 for translations and 570 for rotations, while the dynamic response is fast with the targeted first resonant mode of 100Hz. A prototype of the synthesized CPM is fabricated using the electron beam melting (EBM) technology with Ti6Al4V material. Driven by three voice-coil (VC) motors, the CPM demonstrated a positioning resolution of 50nm along the Z axis and an angular resolution of ~0.3 "about the X and Y axes, the positioning accuracy is also good with the measured values of ±25.2nm and ±0.17" for the translation and rotations respectively. Experimental investigation also shows that this large workspace CPM has a first resonant mode of 98Hz and the stiffness behavior matches the prediction with the highest deviation of 11.2%. Most importantly, the full workspace of 10° × 10° × 7mm of the proposed CPM can be achieved, that demonstrates 3D printed compliant mechanisms can perform large elastic deformation. The obtained results show that CPMs printed by EBM technology have predictable mechanical characteristics and are applicable in precise positioning systems. NRF (Natl Research Foundation, S’pore) Published version 2018-09-20T03:46:13Z 2019-12-06T17:14:06Z 2018-09-20T03:46:13Z 2019-12-06T17:14:06Z 2017 Journal Article Pham, M. T., Teo, T. J., Yeo, S. H., Wang, P., & Na, S. M. L. (2017). Synthesis and Evaluation of A High Precision 3D-Printed Ti6Al4V Compliant Parallel Manipulator. IOP Conference Series: Materials Science and Engineering, 280, 012040-. doi:10.1088/1757-899X/280/1/012040 1757-8981 https://hdl.handle.net/10356/88936 http://hdl.handle.net/10220/46047 10.1088/1757-899X/280/1/012040 en IOP Conference Series: Materials Science and Engineering © 2017 The Author(s) (Published under licence by IOP Publishing Ltd). Content from this work may be used under the terms of the Creative Commons Attribution 3.0 licence. Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI. 7 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Compliant Parallel Manipulator (CPM)
DRNTU::Engineering::Mechanical engineering
3D-Printing
spellingShingle Compliant Parallel Manipulator (CPM)
DRNTU::Engineering::Mechanical engineering
3D-Printing
Wang, Pan
Pham, Minh Tuan
Teo, Tat Joo
Yeo, Song Huat
Na, Sharon Mui Ling
Synthesis and evaluation of a high precision 3D-printed Ti6Al4V compliant parallel manipulator
description A novel 3D printed compliant parallel manipulator (CPM) with θX − θX − Z motions is presented in this paper. This CPM is synthesized using the beam-based method, a new structural optimization approach, to achieve optimized stiffness properties with targeted dynamic behavior. The CPM performs high non-actuating stiffness based on the predicted stiffness ratios of about 3600 for translations and 570 for rotations, while the dynamic response is fast with the targeted first resonant mode of 100Hz. A prototype of the synthesized CPM is fabricated using the electron beam melting (EBM) technology with Ti6Al4V material. Driven by three voice-coil (VC) motors, the CPM demonstrated a positioning resolution of 50nm along the Z axis and an angular resolution of ~0.3 "about the X and Y axes, the positioning accuracy is also good with the measured values of ±25.2nm and ±0.17" for the translation and rotations respectively. Experimental investigation also shows that this large workspace CPM has a first resonant mode of 98Hz and the stiffness behavior matches the prediction with the highest deviation of 11.2%. Most importantly, the full workspace of 10° × 10° × 7mm of the proposed CPM can be achieved, that demonstrates 3D printed compliant mechanisms can perform large elastic deformation. The obtained results show that CPMs printed by EBM technology have predictable mechanical characteristics and are applicable in precise positioning systems.
author2 School of Mechanical and Aerospace Engineering
author_facet School of Mechanical and Aerospace Engineering
Wang, Pan
Pham, Minh Tuan
Teo, Tat Joo
Yeo, Song Huat
Na, Sharon Mui Ling
format Article
author Wang, Pan
Pham, Minh Tuan
Teo, Tat Joo
Yeo, Song Huat
Na, Sharon Mui Ling
author_sort Wang, Pan
title Synthesis and evaluation of a high precision 3D-printed Ti6Al4V compliant parallel manipulator
title_short Synthesis and evaluation of a high precision 3D-printed Ti6Al4V compliant parallel manipulator
title_full Synthesis and evaluation of a high precision 3D-printed Ti6Al4V compliant parallel manipulator
title_fullStr Synthesis and evaluation of a high precision 3D-printed Ti6Al4V compliant parallel manipulator
title_full_unstemmed Synthesis and evaluation of a high precision 3D-printed Ti6Al4V compliant parallel manipulator
title_sort synthesis and evaluation of a high precision 3d-printed ti6al4v compliant parallel manipulator
publishDate 2018
url https://hdl.handle.net/10356/88936
http://hdl.handle.net/10220/46047
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