Design of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering Mirrors

Laser beams can fluctuate in four directions, which requires active compensation by a fast steering mirror (FSM) motion system. This paper deals with the design of four-degrees-of-freedom (DoF) compliant parallel manipulators, for responding to the requirements of the FSM. In order to simplify high-...

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Autores principales:	Guangbo Hao, Haiyang Li, Yu-Hao Chang, Chien-Sheng Liu
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	fast steering mirror compliant parallel manipulator constraint map 4-DoF decoupling Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841
Acceso en línea:	https://doaj.org/article/fd48127ccd6a4518a8b0545cda975835
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spelling	oai:doaj.org-article:fd48127ccd6a4518a8b0545cda9758352021-11-25T15:56:53ZDesign of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering Mirrors10.3390/act101102922076-0825https://doaj.org/article/fd48127ccd6a4518a8b0545cda9758352021-11-01T00:00:00Zhttps://www.mdpi.com/2076-0825/10/11/292https://doaj.org/toc/2076-0825Laser beams can fluctuate in four directions, which requires active compensation by a fast steering mirror (FSM) motion system. This paper deals with the design of four-degrees-of-freedom (DoF) compliant parallel manipulators, for responding to the requirements of the FSM. In order to simplify high-precision control in parallel manipulators, maximum kinematic decoupling is always desired. A constraint map method is used to propose the four required DoF with the consideration of maximum kinematic decoupling. A specific compliant mechanism is presented based on the constraint map, and its kinematics is estimated analytically. Finite element analysis demonstrates the desired qualitative motion and provides some initial quantitative analysis. A normalization-based compliance matrix is finally derived to verify and demonstrate the mobility of the system clearly. In a case study, the results of normalization-based compliance matrix modelling show that the diagonal entries corresponding to the four DoF directions are about 10 times larger than those corresponding to the two-constraint directions, validating the desired mobility.Guangbo HaoHaiyang LiYu-Hao ChangChien-Sheng LiuMDPI AGarticlefast steering mirrorcompliant parallel manipulatorconstraint map4-DoFdecouplingMaterials of engineering and construction. Mechanics of materialsTA401-492Production of electric energy or power. Powerplants. Central stationsTK1001-1841ENActuators, Vol 10, Iss 292, p 292 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	fast steering mirror compliant parallel manipulator constraint map 4-DoF decoupling Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841
spellingShingle	fast steering mirror compliant parallel manipulator constraint map 4-DoF decoupling Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841 Guangbo Hao Haiyang Li Yu-Hao Chang Chien-Sheng Liu Design of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering Mirrors
description	Laser beams can fluctuate in four directions, which requires active compensation by a fast steering mirror (FSM) motion system. This paper deals with the design of four-degrees-of-freedom (DoF) compliant parallel manipulators, for responding to the requirements of the FSM. In order to simplify high-precision control in parallel manipulators, maximum kinematic decoupling is always desired. A constraint map method is used to propose the four required DoF with the consideration of maximum kinematic decoupling. A specific compliant mechanism is presented based on the constraint map, and its kinematics is estimated analytically. Finite element analysis demonstrates the desired qualitative motion and provides some initial quantitative analysis. A normalization-based compliance matrix is finally derived to verify and demonstrate the mobility of the system clearly. In a case study, the results of normalization-based compliance matrix modelling show that the diagonal entries corresponding to the four DoF directions are about 10 times larger than those corresponding to the two-constraint directions, validating the desired mobility.
format	article
author	Guangbo Hao Haiyang Li Yu-Hao Chang Chien-Sheng Liu
author_facet	Guangbo Hao Haiyang Li Yu-Hao Chang Chien-Sheng Liu
author_sort	Guangbo Hao
title	Design of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering Mirrors
title_short	Design of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering Mirrors
title_full	Design of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering Mirrors
title_fullStr	Design of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering Mirrors
title_full_unstemmed	Design of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering Mirrors
title_sort	design of four-dof compliant parallel manipulators considering maximum kinematic decoupling for fast steering mirrors
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/fd48127ccd6a4518a8b0545cda975835
work_keys_str_mv	AT guangbohao designoffourdofcompliantparallelmanipulatorsconsideringmaximumkinematicdecouplingforfaststeeringmirrors AT haiyangli designoffourdofcompliantparallelmanipulatorsconsideringmaximumkinematicdecouplingforfaststeeringmirrors AT yuhaochang designoffourdofcompliantparallelmanipulatorsconsideringmaximumkinematicdecouplingforfaststeeringmirrors AT chienshengliu designoffourdofcompliantparallelmanipulatorsconsideringmaximumkinematicdecouplingforfaststeeringmirrors
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Design of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering Mirrors

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