Compliant Manipulator Design method

Compliant Manipulator Design method: Applied for designing a 4-DoF manipulator with a TTTR-motion

Huisjes, Ad (TU Delft Mechanical, Maritime and Materials Engineering)

van der Wijk, V. (mentor)
Herder, J.L. (graduation committee)
Schwab, A.L. (graduation committee)

Delft University of Technology

2020-01-28

Current multi-DoF compliant manipulators are still rarely implemented in the industry because their range of motion (ROM) is limited as their designs are heavy and bulky or obtained by a serial set of multiple stacked flexure systems, which limits their compactness. The goal of this article is to overcome these limitations by considering them as an integrated multi-DoF compliant joint, either serial or parallel, and setting up a new method the Compliant Manipulator Design (COMAD)-method and investigate its performance. This method will combine the "Type synthesis of legs"-technique to include parallel kinematic solutions for the desired motion pattern whereafter the complete compliant solution space is obtained using the FACT-method. The method is applied for designing a 4-DoF-manipulator with a TTTR-motion pattern resulting in four new concepts composed of compactly aggregated wire flexures. After the concept selection, a demonstrator is manufactured which excellently possesses four decoupled motions with a relatively large ROM. This can be seen as a new milestone for designing multi-DoF compliant manipulators as it permits a larger ROM and better stiffness capabilities than those obtained from conventional methods because all compliant topologies are deflecting in series due to the parallel kinematic couplings within the multi-DoF flexure systems.

Parallel
Compliant
Manipulator

http://resolver.tudelft.nl/uuid:eee2306f-598a-4153-bf68-485c6d82d0dc

2023-02-28

51.9962559, 4.3758659

Student theses

master thesis

© 2020 Ad Huisjes