A Compliant-Parallel Mechanism with Bio-Inspired Compliant Joints for High Precision Assembly Robot
A Compliant-Parallel Mechanism with Bio-Inspired Compliant Joints for High Precision Assembly Robot
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DOI：
10.1016/j.procir.2013.01.035
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
H. Kozuka;J. Arata;K. Okuda;Akinori Onaga;Motoshi Ohno;A. Sano;H. Fujimoto
中科院分区：
文献类型：
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作者：
H. Kozuka;J. Arata;K. Okuda;Akinori Onaga;Motoshi Ohno;A. Sano;H. Fujimoto
研究了一种基于仿生柔性副的高精度、宽工作区域的柔性并联机构。C-P机构是一种所有关节均由宽变形柔性关节组成的并联机构。在柔性铰链与并联机构的集成中，柔性铰链的变形可以通过并联机构的机械约束来引导，从而实现C-P机构的精确驱动。C-P机构无间隙，无需润滑，无噪音，无磨损。而且，与传统机构不同，C-P机构可以集成为紧凑、轻量、结构简单的机构。从这些背景下，我们开发了一个广泛变形的圆形顺应性关节的灵感来自Drakaea，这是一个蜻蜓科物种。作为第一个原型，在3-DOF（旋转2和平移1 DOF）并联机构上实现了圆形柔性关节。然后，我们的第二个原型开发，以实现进一步广泛的工作区域。在仿生圆形柔性关节的基础上，设计了一种串联板簧柔性关节，并在传统的三自由度DELTA机构上实现，作为第二原型。通过对这些样机的评价试验，证明了C-P机构应用于大范围工作区域内的高精度装配机器人的可行性。
In this paper, we describe a study on compliant-parallel (C-P) mechanism with high precision and wide range of working area using bio-inspired compliant joints. C-P mechanism is a parallel mechanism in which all of joints are composed by wide deformable compliant joints. In the integration of the compliant joint and the parallel mechanism, a deformation of the compliant joint can be guided by mechanical constraints from the parallel mechanism; thus C-P mechanism can be precisely driven. C-P mechanism has no back-lash, requires no lubrication, and is free from machine noise and abrasion power. And, unlike conventional mechanisms, C-P mechanism can be integrated into compact, lightweight, and simple structure. From these backgrounds, we developed a widely deformable circular compliant joint inspired by Drakaea, which is an orchidaceous species. The circular compliant joint was implemented on a 3-DOF (rotational 2 and translational 1 DOF) parallel mechanism as a first prototype. Then, our second prototype was developed to realize further wide range of working area. A serially layered-flat spring compliant joint was developed based on the bio-inspired circular compliant joint, and was implemented on a traditional 3-DOF DELTA mechanism, as the second prototype. From the evaluation tests of these prototypes, the feasibility of C-P mechanism was shown positive to be applied to a high precision assembly robot within a wide range of working area.