Constraint-based design and analysis of a compliant parallel mechanism using sma-spring actuators

TY - CHAP

T1 - Constraint-based design and analysis of a compliant parallel mechanism using sma-spring actuators

AU - Qiu, C.

AU - Zhang, K.

AU - Dai, Jian S.

PY - 2014/1/1

Y1 - 2014/1/1

N2 - This paper presents a novel compliant parallel mechanism that utilizes shape-memory-alloy (SMA) spring based actuators. By employing SMA coil springs, the traditional line constraint that resists translation along its axis but no other forms of motions is transformed into a linear actuator that can generate deflection along its axis, which leads to the design of SMA-spring linear actuators. In accordance with this SMA actuator, an constraint-based approach in the framework of screw theory is utilized to synthesize the constraint and actuation space of parallel mechanisms, and a novel 4 DOF parallel platform is developed based on this analytical approach. A physical prototype is manufactured by employing the SMA-spring actuators, and its mobility and workspace are verified with both finite element simulation and experiment observations. The results illustrate this parallel mechanism has a large workspace in all desired mobility configurations. The presented work on the parallel platform demonstrates the efficiency of the constraint-based approach in determining the layout of actuation systems, also the developed SMA actuators pave a new way for applying the SMA technique in the future development of compliant parallel mechanisms and robotics.

AB - This paper presents a novel compliant parallel mechanism that utilizes shape-memory-alloy (SMA) spring based actuators. By employing SMA coil springs, the traditional line constraint that resists translation along its axis but no other forms of motions is transformed into a linear actuator that can generate deflection along its axis, which leads to the design of SMA-spring linear actuators. In accordance with this SMA actuator, an constraint-based approach in the framework of screw theory is utilized to synthesize the constraint and actuation space of parallel mechanisms, and a novel 4 DOF parallel platform is developed based on this analytical approach. A physical prototype is manufactured by employing the SMA-spring actuators, and its mobility and workspace are verified with both finite element simulation and experiment observations. The results illustrate this parallel mechanism has a large workspace in all desired mobility configurations. The presented work on the parallel platform demonstrates the efficiency of the constraint-based approach in determining the layout of actuation systems, also the developed SMA actuators pave a new way for applying the SMA technique in the future development of compliant parallel mechanisms and robotics.

UR - http://www.scopus.com/inward/record.url?scp=84961320274&partnerID=8YFLogxK

U2 - 10.1115/DETC2014-34605

DO - 10.1115/DETC2014-34605

M3 - Conference paper

AN - SCOPUS:84961320274

VL - 5A

BT - 38th Mechanisms and Robotics Conference

PB - American Society of Mechanical Engineers (ASME)

T2 - ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014

Y2 - 17 August 2014 through 20 August 2014

ER -