ABSTRACT
This paper presents a novel design and control strategies for a parallel two degrees-of-freedom (DOF) flexure-based micropositioning stage for large-range manipulation applications. The motion-guiding beam utilizes a compound hybrid compliant prismatic joint (CHCPJ) composed of corrugated and leaf flexures, ensuring increased compliance in primary directions and optimal stress distribution with minimal longitudinal length. Additionally, a four-beam parallelogram compliant prismatic joint (4BPCPJ) is used to improve the motion decoupling performance by increasing the off-axis to primary stiffness ratio. The mechanism's output compliance and dynamic characteristics are analyzed using the compliance matrix method and Lagrange approach, respectively. The accuracy of the analysis is verified through finite element analysis (FEA) simulation. In order to examine the mechanism performance, a laser interferometer-based experimental setup is established. In addition, a linear active disturbance rejection control (LADRC) is developed to enhance the motion quality. Experimental results illustrate that the mechanism has the capability to provide a range of 2.5 mm and a resolution of 0.4 µm in both the X and Y axes. Furthermore, the developed stage has improved trajectory tracking and disturbance rejection capabilities.
ABSTRACT
Integrating mechanical computing functions into robotic materials, microelectromechanical systems, or soft robotics can improve their intelligence in stimulation-response processes. Current mechanical computing systems exhibit limitations, including incomplete functions, unchangeable computing rules, difficulties in realizing random logic, and lack of reusability. To overcome these limitations, we propose a straightforward method of designing mechanical computing systems-based on the logic expressions-for complex computations. We designed soft, B-shaped mechanical metamaterial units, and compressed them to render stress inputs; the outputs are represented by the light-shielding effects caused by the unit deformations. We realized logic gates and corresponding combinations (including half/full binary adder/subtractor and addition/subtraction of 2 numbers with multiple bits) and provided a versatile solution for making a mechanical analog-to-digital converter to generate both ordered and disordered numbers. We performed all of the computations within the elastic regions of the B-shaped units; thus, after one computation, the systems can return to the initial states for reuse. The proposed mechanical computers will potentially enable robotic materials, microelectromechanical systems, or soft robotics to perform complex tasks. Furthermore, one can extend this concept to systems that are based on other mechanisms or materials.
ABSTRACT
Additive manufacturing technology has advantages for realizing complex monolithic structures, providing huge potential for developing advanced flexure mechanisms for precision manipulation. However, the characteristics of flexure hinges fabricated by laser beam melting (LBM) additive manufacturing (AM) are currently little known. In this paper, the fabrication and characterization of a flexure parallel mechanism through the LBM process are reported for the first time to demonstrate the development of this technique. The geometrical accuracy of the additive-manufactured flexure mechanism was evaluated by three-dimensional scanning. The stiffness characteristics of the flexure mechanism were investigated through finite element analysis and experimental tests. The effective hinge thickness was determined based on the parameters study of the flexure parallel mechanism. The presented results highlight the promising outlook of LBM flexure parts for developing novel nanomanipulation platforms, while additional attention is required for material properties and manufacturing errors.
ABSTRACT
Compliant bridge mechanisms are frequently utilized to scale micrometer order motions of piezoelectric actuators to levels suitable for desired applications. Analytical equations have previously been specifically developed for two configurations of bridge mechanisms: parallel and rhombic type. Based on elastic beam theory, a kinematic analysis of compliant bridge mechanisms in general configurations is presented. General equations of input displacement, output displacement, displacement amplification, input stiffness, output stiffness and stress are presented. Using the established equations, a piezo-driven compliant bridge mechanism has been optimized to maximize displacement amplification. The presented equations were verified using both computational finite element analysis and through experimentation. Finally, comparison with previous studies further validates the versatility and accuracy of the proposed models. The formulations of the new analytical method are simplified and efficient, which help to achieve sufficient estimation and optimization of compliant bridge mechanisms for nano-positioning systems.
