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Awtar, ASME MD-06-1015 1 Constraint-based Design of Parallel Kinematic XY Flexure Mechanisms
 

Summary: Awtar, ASME MD-06-1015 1
Constraint-based Design of Parallel Kinematic XY Flexure Mechanisms
Shorya Awtar1
Precision Engineering Research Group
Massachusetts Institute of Technology, Cambridge MA
518-577-5500, shorya@mit.edu
Alexander H. Slocum
Professor of Mechanical Engineering, Precision Engineering Research Group
Massachusetts Institute of Technology, Cambridge MA
617-253-0012, slocum@mit.edu
Abstract
This paper presents parallel kinematic XY flexure mechanism designs based on systematic
constraint patterns that allow large ranges of motion without causing over-constraint or
significant error motions. Key performance characteristics of XY mechanisms such as mobility,
cross-axis coupling, parasitic errors, actuator isolation, drive stiffness, lost motion, and geometric
sensitivity are discussed. The standard double parallelogram flexure module is used as a
constraint building-block and its non-linear force-displacement characteristics are employed in
analytically predicting the performance characteristics of two proposed XY flexure mechanism
designs. Fundamental performance tradeoffs, including those resulting from the non-linear load-
stiffening and elastokinematic effects, in flexure mechanisms are highlighted. Comparisons

  

Source: Awtar, Shorya - Department of Mechanical Engineering, University of Michigan

 

Collections: Engineering