Design and Computational Optimization of a Decoupled 2-DOF Monolithic Mechanism
Design and Computational Optimization of a Decoupled 2-DOF Monolithic Mechanism
复制标题
解耦二自由度整体机构的设计和计算优化
DOI：
10.1109/tmech.2013.2262801
复制
发表时间：
2014-06-01
影响因子：
6.4
通讯作者：
Bhagat, Umesh
中科院分区：
文献类型：
--
作者：
Qin, Yanding;Shirinzadeh, Bijan;Bhagat, Umesh
本文介绍了一种解耦的二自由度整体机构的机械设计，计算优化和实验。在机械设计中，超静定叶片平行四边形提供解耦效果，压电致动器（PEA）的位移放大与超静定杠杆机构。在压电驱动机构中，PEA和机构之间的接触界面是估计和测量特性之间的差异的主要原因。然而，没有明确的和可靠的模型可用于估计接触刚度。在本文中，计算优化的响应面法的基础上进行，并考虑到接触界面的影响，通过增加足够的安全裕度的设计目标。最后，原型制造和实验研究其特性和性能。实验结果表明，该机构的工作空间范围超过82 μm × 82 μm，一阶固有频率为423 Hz（负载质量为53.4 g）。实验测得的交叉轴耦合比小于1%，表明良好的解耦性能。
This paper presents the mechanical design, computational optimization, and experimentation of a decoupled 2-DOF monolithic mechanism. In the mechanical design, statically indeterminate leaf parallelograms provide the decoupling effect, and the displacement of the piezoelectric actuator (PEA) is amplified with a statically indeterminate lever mechanism. In a piezo-driven mechanism, the contact interface between the PEA and the mechanism is a major cause of the discrepancies between the estimated and measured characteristics. However, no explicit and reliable model is available to estimate the contact stiffness. In this paper, a computational optimization based on the response surface methodology is performed and the influence of the contact interface is taken into consideration by adding adequate safety margin to the design objectives. Ultimately, a prototype is manufactured and experimentally investigated for its characteristics and performances. Experimental results show that the developed mechanism has a workspace range in excess of 82 μm × 82 μm with a first natural frequency of 423 Hz (with a 53.4-g load mass). The cross-axis coupling ratio is experimentally measured to be below 1%, indicating excellent decoupling performances.