Please use this identifier to cite or link to this item: https://doi.org/10.3390/machines9010005
Title: A decoupled 6-dof compliant parallel mechanism with optimized dynamic characteristics using cellular structure
Authors: Pham, Minh Tuan
Yeo, Song Huat
Teo, Tat Joo 
Wang, Pan
Nai, Mui Ling Sharon
Keywords: 3D printing
Cellular structure
Compliant mechanism
Decoupled motion
Electron beam melting
Flexure-based mechanism
Lattice structure
Parallel mechanism
Six DOF
Issue Date: 10-Jan-2021
Publisher: MDPI AG
Citation: Pham, Minh Tuan, Yeo, Song Huat, Teo, Tat Joo, Wang, Pan, Nai, Mui Ling Sharon (2021-01-10). A decoupled 6-dof compliant parallel mechanism with optimized dynamic characteristics using cellular structure. Machines 9 (1) : Jan-18. ScholarBank@NUS Repository. https://doi.org/10.3390/machines9010005
Rights: Attribution 4.0 International
Abstract: This paper presents a novel six degrees-of-freedom (DOF) compliant parallel mechanism (CPM) with decoupled output motions, large workspace of ?6 mm for translations and ?12? for rotations, optimized stiffness, and dynamic properties. The working range and the motion decoupling capability of the six-DOF CPM are experimentally verified, and the mechanical properties are shown to be predictable. The proposed CPM is synthesized by applying the beam-based structural optimization method together with the criteria for achieving motion decoupling capability. In order to improve the dynamic behaviors for the CPM, cellular structure is used to design its end effector. The obtained results show that the dynamic performance of the CPM with cellular end effector is significantly enhanced with the increase of 33% of the first resonance frequency as compared to the initial design. Performances of the three-dimensional (3D)-printed prototype are experimentally evaluated in terms of mechanical characteristics and decoupled motions. The obtained results show that the actual stiffness and dynamic properties agree with the predictions with the highest deviation of ~10.5%. The motion decoupling capability of the CPM is also demonstrated since almost input energy (>99.5%) generates the desired output motions while the energy causes parasitic motions is only minor (<0.5%). © 2021 by the authors. Licensee MDPI, Basel, Switzerland.
Source Title: Machines
URI: https://scholarbank.nus.edu.sg/handle/10635/232559
ISSN: 2075-1702
DOI: 10.3390/machines9010005
Rights: Attribution 4.0 International
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