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Design Principle of High-precision flexure mechanisms Based on Parasitic-motion Compensation

Chinese Journal of Mechanical Engineering 2014年第4期27卷 663-672页

作者： LI Shouzhong YU Jingjun School of Mechanical Engineering University of Science and Technology Beijing Robotics Institute Beihang University

In design of flexure mechanism, diminishing the parasitic-motion is a key point to improve the accuracy. However, most of existing topics concentrate on improving the accuracy of linear-motion flexure mechanisms via compensating the parasitic error, but few research the multi-dimensional flexure mechanisms. A general design principle and method for high-precision flexure mechanisms based on the parasitic-motion compensation is presented, and the proposed method can compensate the parasitic rotation in company with translation, or the parasitic translation in company with rotation, or both. The crucial step for the method is that the parasitic motion of a flexure mechanism is formulated and evaluated in terms of its compliance. The overall compliance matrix of a general flexure mechanism is formulated by using screw theory firstly, then the criteria for the parasitic motions is introduced by analyzing the characteristics of the resultant compliance matrix as well as with aid of the concept of instantaneous rotation center. Subsequently, a compliance-based compensation approach for reducing parasitic-motion is addressed as the most important part. The design principles and procedure are further discussed to help with improving the accuracy of flexure mechanisms, and case studies are provided to illustrate this method. Finally, an analytical verification is provided to demonstrate that the symmetry design philosophy widely used in flexure design can effectively improve accuracy in terms of the proposed method. The proposed compensation method can be well used to diminish the parasitic-motion of multi-dimensional flexure mechanisms.

关键词： flexure mechanism compliance matrix parasitic motion compensation

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Conditions for Parallel Realizable Configurations in Synthesis of Constraint-based flexure mechanisms

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Chinese Journal of Mechanical Engineering 2012年第6期25卷 1086-1095页

作者： LI Shouzhong, YU Jingjun*, and ZONG Guanghua Robotics Institute, Beihang University, Beijing 100191, China Robotics Institute Beihang University Beijing China

In synthesis of flexure mechanism, parallel arrangement is paid more attention due to its advantages, such as compact structure and higher stiffness. Researchers have derived many parallel flexure mechanisms, but seldom discuss which kind of flexure mechanism can be realized via fully parallel arrangement. The realizable conditions proposed in current work are complicated to engineering applications. To solve two problems on how to judge whether a flexure mechanism can be realized via fully parallel arrangement and how to realize those flexure mechanisms which cannot be realized via fully parallel arrangement, the algebraic condition is derived to judge whether a freedom space is parallel realizable after introducing the definition of parallel realizable and some propositions, and the condition is there exist 6-n independent line constraints in constraint space reciprocal to dimensional freedom space. Then the realizable constraint spaces reciprocal to freedom spaces with 1-3 dimensions are provided. As a result, not all freedom spaces are parallel realizable. For freedom spaces that are not parallel realizable, the criterion of decomposing DOF is proposed to achieve all motion patterns via parallel or hybrid arrangement, that is a high dimensional freedom space can be realized via combining several low dimensional freedom spaces which are parallel realizable. Specific decomposing strategies for 4 and 5 DOF are provided and a complete flowchart is presented to guide designing flexure mechanisms, particularly those which are not parallel realizable. As case studies, synthesis processes of two helical and 3T1R motions are provided to illustrate the proposed approach. The proposed method provides a feasible approach to realize all motion patterns.

关键词： flexure mechanism type synthesis screw theory line geometry constraint design

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Effect of Degree-of-Symmetry on Kinetostatic Characteristics of flexure mechanisms:A Comparative Case Study

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Chinese Journal of Mechanical Engineering 2018年第2期31卷 54-65页

作者： Xiao-Bing He Jing-Jun Yu Wan-Wan Zhang Guang-Bo Hao School of Mechanical Engineering and Automation Beihang University School of Engineering-Electrical and Electronic Engineering University College Cork

The current research of kinetostatic characteristics in flexure mechanisms mainly focus on the improvement of accuracy. To reduce or eliminate the parasitic motion is considered as an approach by using the common knowledge of symmetry. However, there is no study on designing the flexure mechanisms with symmetrical features as many as possible for better kinetostatic performance, when considering the resulting cost by the symmetry. In this paper, the concept of degree of symmetry(DoS) is proposed for the first time, which is committed to symmetry design in the phase of conceptual design. A class of flexure mechanisms with 0?DoS, 1?DoS, 2?DoS and 3?DoS are synthesized respectively based on the Freedom and Constraint Topology method. Their overall compliance matrices in an analytical form formulated within the framework of the screw theory are used to analyze and compare the effect of different number of DoS on the kinetostatic characteristics for flexure mechanisms. The finite element analysis(FEA) simulations are implemented to verify the analytical results. These results show that the higher the DoS is, the smaller the parasitic motion error will be. The flexure model with 3?DoS is optimized according to the overall compliance matrix and then tested by using the FEA simulation. The testing result shows that with the best combination parameters, the parasitic motion error for 3?DoS mechanism is almost eliminated. This research introduces a design principle which can alleviate the unwanted parasitic motion for better accuracy.

关键词： flexure mechanism Symmetry Kinetostatic characteristics FEA simulation

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A unified approach to type synthesis of both rigid and flexure parallel mechanisms

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Science China(Technological Sciences) 2011年第5期54卷 1206-1219页

作者： YU JingJun LI ShouZhong PEI Xu BI ShuSheng ZONG GuangHua Robotics Institute Beihang University Beijing 100191 China

Type synthesis of both rigid and compliant parallel mechanisms has become a hot issue in the field of mechanisms and robotics research in recent years. A unified approach to type synthesis of the two classes of mechanisms, however, has not been referred and investigated up to date. Based on the state-of-art analysis for several major type synthesis approaches related to rigid and compliant mechanisms, respectively, it proves feasible to establish a unified methodology for type synthesis of these two classes of mechanisms. That is a synthesis philosophy in terms of the hierarchy mapping between mathematic, physical, and mechanical building blocks in the framework of screw theory, as addressed in this paper. The key point of the proposed method lies in establishing the mapping among three different building blocks (i.e. geometric building block, kinematic or constraint building block, and mechanical building block). As a result, it makes the whole type synthesis process simple and visible. By using the proposed method, two examples are taken to verify the effectiveness for the type synthesis of both rigid and flexure mechanisms. The content of this paper may provide a theoretical frame for constructing a visualized algorithm or software about the unified type synthesis (or conceptual design) of both rigid and flexure parallel mechanisms.

关键词： type synthesis flexure mechanism parallel mechanism screw system building block

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Design of Compliant Straight-line mechanisms Using Flexural Joints

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Chinese Journal of Mechanical Engineering 2014年第1期27卷 146-153页

作者： PEI Xu YU Jingjun ZONG Guanghua BI Shusheng School of Mechanical Engineering and Automation Beihang University

Straight-line compliant mechanisms are important building blocks to design a linear-motion stage, which is very useful in precision applications. However, only a few configurations of straight-line compliant mechanisms are applicable. To construct more kinds of them, an approach to design large-displacement straight-line flexural mechanisms with rotational flexural joints is proposed, which is based on a viewpoint that the straight-line motion is regarded as a compromise of rigid and compliant parasitic motion of a rotational flexural joint. An analytical design method based on the Taylor series expansion is proposed to quickly obtain an approximate solution. To illustrate and verify the proposed method, two kinds of flexural joints, cross-axis hinge and leaf-type isosceles-trapezoidal flexural（LITF） pivot are used to reconstruct straight-line flexural mechanisms. Their performances are obtained by analytic and FEA method respectively. The comparisons of the results show the accuracy of the approach. Both examples show that the proposed approach can convert a large-deflection flexural joint into approximate straight-line mechanism with a high linearity that is higher than 5 000 within 5 man displacement. This can lead to a new way to design, analyze or optimize straight-line flexure mechanisms.

关键词： flexure mechanism straight-line mechanism flexural joint center-shift

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A Novel Bionic Piezoelectric Actuator Based on the Walrus Motion

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Journal of Bionic Engineering 2021年第5期18卷 1117-1125页

作者： Jianping Li Junjie Cai Nen Wan Yili Hu Jianming Wen Junwu Kan Song Chen Hongwei Zhao Key Laboratory of Urban Rail Transit Intelligent Operation and Maintenance Technology and Equipment of Zhejiang Provincial The Institute of Precision Machinery and Smart StructureCollege of EngineeringZhejiang Normal UniversityJinhua 321004China School of Mechanical and Aerospace Engineering Jilin UniversityChangchun 130025China

A novel bionic piezoelectric actuator based on the walrus motion to achieve high performance on large working stroke for micro/nano positioning systems is first proposed in this *** structure of the proposed walrus type piezoelectric actuator is described,and its motion principle is presented in *** experimental system is set up to verify its feasibility and explore its working *** results indicate that the proposed walrus type piezoelectric actuator could realize large working stroke with only one driving unit and one coupled clamping unit;the maximum stepping displacement isΔL max=19.5μm in the case that the frequency f=1 Hz and the voltage U=120 V;the maximum speed V max=2275.2μm·s^(-1) when the frequency f=900 Hz and the voltage U=120 V;the maximum vertical load m max=350 g while the voltage U=120 V and the frequency f=1 *** study shows the feasibility of mimicking the bionic motion of the real walrus animal to the design of piezoelectric actuators,which is hopeful for the real application of micro/nano positioning systems to achieve large working stroke and high performance.

关键词： Piezoelectric actuator Bionic actuator Walrus motion flexure mechanism

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Progress in high-performance stick-slip piezoelectric actuators: a review

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International Journal of Smart and Nano Materials 2024年第3期15卷 652-696页

作者： Yingqi Lin Dawei An Zhenyu Lin Xiaoting Chen Weiqing Huang School of Mechanical and Electrical Engineering Guangzhou UniversityGuangzhouChina School of Computer and Information Qiannan Normal University for NationalitiesDuyunChina

The ultra-precision field is popular for its micro-nanometer positioning accuracy and large working *** actuators based on the stick-slip operational principle exhibit superior performance characteristics,making them stand out with unique advantages in this *** paper provides a comprehensive review of the developments in stick-slip piezoelectric actuators over recent *** with a detailed explanation of their operating principles,the article proceeds with a brief introduction to the more commonly used driving waveforms and their ***,various design and optimization technologies for existing com-pliant mechanisms are ***,stick-slip piezoelectric actuators are categorized based on different motion forms,including linear,rotary,and multi-degree of freedom *** category is thoroughly examined in terms of structural design and performance *** this,the discussion shifts toward controller method research and friction modeling analysis,featuring a particular emphasis on the advancements related to displacement back-lash suppression *** systematic summary aims to provide a reference for researchers within related fields,thereby facilitating the further development and application of stick-slip piezoelectric actuators.

关键词： Piezoelectric actuator stick-slip motion principle flexure mechanism positioning accuracy

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