A 3-D Printed Ti-6Al-4V 3-DOF Compliant Parallel Mechanism for High Precision Manipulation
A 3-D Printed Ti-6Al-4V 3-DOF Compliant Parallel Mechanism for High Precision Manipulation
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DOI：
10.1109/tmech.2017.2726692
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发表时间：
2017-10-01
影响因子：
6.4
通讯作者：
Nai, Mui Ling Sharon
中科院分区：
文献类型：
--
作者：
Pham, Minh Tuan;Teo, Tat Joo;Nai, Mui Ling Sharon
介绍了一种三维打印三自由度空间运动柔顺并联机构的综合与评价。采用基于束流的结构优化方法合成了CPM，并以Ti6Al4V为材料，采用电子束熔炼(EBM)技术制备了CPM样机。对用于精密应用的3-D打印柔性机构的力学特性，即刚度特性、动态响应和大弹性变形进行了实验评估。最重要的是，提出了一个系数系数1.27来确定厚度为0.5 mm的三维打印柔性机构的有效厚度。利用有效厚度对三维打印CPM的特性进行了验证，最大偏差为10.5%。Ti6Al4V CPM能够实现高达4 mm的直线位移、6个角度的位移、119 Hz的快速动态响应、良好的解耦运动和高的非致动刚度。基于3-D打印CPM构建了一个3自由度机械手，由3个音圈电机驱动。实验结果表明，该三自由度机械手可以实现沿Z轴平移分辨率为20 nm，绕X轴旋转分辨率为0.14角秒，绕Y轴旋转分辨率为0.12角秒的可重复运动。综上所述，EBM技术适合于制造精密机械臂系统中的柔性机构；当采用有效厚度时，三维打印柔性机构的力学特性是可以预测的。
This paper presents the synthesis and evaluation of a 3-D printed three degrees-of-freedom (DOF) spatial-motion compliant parallel mechanism (CPM). The CPM was synthesized by the beam-based structural optimization method and a prototype was fabricated by the electron beam melting (EBM) technology with Ti6Al4V material. The mechanical characteristics of 3-D printed compliant mechanism for precision applications, i.e., stiffness property, dynamic response, and large elastic deformation, were experimentally evaluated. Most importantly, a coefficient factor of 1.27 was proposed to determine the effective thickness for 3-D printed compliant mechanisms with 0.5 mm thick flexures. Using the effective thickness, the characteristics of the 3-D printed CPM have shown to agree with the prediction, with a maximum deviation of 10.5%. The Ti6Al4V CPM is able to achieve the large work range up to 4 mm of linear displacement, 6 degrees of angular displacements, fast dynamic response of 119 Hz, good decoupled motions, and high non-actuating stiffness. A 3-DOF manipulator was built based on the 3-D printed CPM and actuated by three voice-coil motors. Experimental results have shown that the 3-DOF manipulator could achieve repeatable motions with resolution of 20 nm for the translation along the Z-axis, 0.14 arc second for the rotation about the X-axis, and 0.12 arc second for the rotation about the Y-axis. In conclusion, EBM technology is suitable for fabricating compliant mechanisms in precision manipulator systems; the mechanical characteristics of 3-D printed compliant mechanisms are predictable when an effective thickness is used.