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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Design, Development, and Application of a Compact Flexure-Based Decoupler With High Motion Transmission Efficiency and Excellent Input Decoupling Performance
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Design, Development, and Application of a Compact Flexure-Based Decoupler With High Motion Transmission Efficiency and Excellent Input Decoupling Performance

机译：具有高运动传输效率和出色的输入去耦性能的紧凑型基于挠曲的去耦器的设计，开发和应用

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摘要

Here, we present the design, development, and application of a compact flexure-based decoupler, which is commonly utilized in compliant parallel mechanisms (CPMs) to transmit the motion of an actuator and protect the actuator from suffering transverse loads. The kinematic structure selection of the decoupler is first introduced. Then, several specific design requirements are proposed to guarantee its key performances. On this basis, the detailed structures of each part of the decoupler are discussed and the geometric parameters are optimized to obtain an ideal decoupler. The performances of the optimized decoupler are verified with finite element analysis (FEA). According to the optimized results, a prototype is fabricated and experimental tests on the input axial stiffness and natural frequency are presented. Both FEA and the experimental results demonstrate the excellent performance of the decoupler. Finally, the proposed decoupler is applied in the development of a 2-DOF CPM. The definition and calculation expression for the input coupling degree (ICD) of the CPM are given, and its geometric parameters are optimized to reduce the ICD. A prototype of the CPM is fabricated for the performance evaluation. A new method is proposed to test the ICD of the CPM by detecting the variations of axial forces along the two axes. Contouring properties of 2-D trajectories are also provided. The experimental results not only demonstrate the excellent decoupling performance of the CPM but also verify the effectiveness of the adoption of the decoupler.
机译：在这里，我们介绍了紧凑的基于挠曲的解耦器的设计，开发和应用，该解耦器通常用于顺应性并联机构（CPM）中，以传递执行器的运动并保护执行器免受横向载荷的影响。首先介绍了解耦器的运动学结构选择。然后，提出了一些特定的设计要求以保证其关键性能。在此基础上，讨论了解耦器各部分的详细结构，并优化了几何参数以获得理想的解耦器。优化的去耦器的性能已通过有限元分析（FEA）进行了验证。根据优化结果，制造了原型，并进行了输入轴向刚度和固有频率的实验测试。有限元分析和实验结果均表明去耦器具有出色的性能。最后，提出的解耦器被用于2-DOF CPM的开发中。给出了CPM输入耦合度（ICD）的定义和计算表达式，并优化了其几何参数以减小ICD。制作了CPM的原型用于性能评估。提出了一种通过检测沿两个轴的轴向力变化来测试CPM的ICD的新方法。还提供了二维轨迹的轮廓特性。实验结果不仅证明了CPM具有出色的去耦性能，而且还证明了采用去耦器的有效性。

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  • 来源
    《IEEE / ASME Transactions on Mechatronics》 |2017年第2期|1071-1081|共11页
  • 作者

    Yao Jiang; Tiemin Li; Liping Wang;

  • 作者单位

    Institute of Instrument Science and Technology, Department of Precision Instrument, Tsinghua University, Beijing, China;

    State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Tsinghua University, Beijing, China;

    State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Tsinghua University, Beijing, China;

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  • 正文语种 eng
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  • 关键词

    Actuators; Kinematics; Couplings; Manufacturing processes; IEEE transactions; Mechatronics; Force;

    机译：执行器;运动学;联轴器;制造过程;IEEE交易;机电一体化;力;

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