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Journal Articles Journal of Mechanical Design Year : 2014

Using Singularities of Parallel Manipulators for Enhancing the Rigid-body Replacement Design Method of Compliant Mechanisms

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Abstract

The rigid-body replacement method is often used when designing a compliant mechanism. The stiffness of the compliant mechanism, one of its main properties, is then highly dependent on the initial choice of a rigid-body architecture. In this paper, we propose to enhance the efficiency of the synthesis method by focusing on the architecture selection. This selection is done by considering the required mobilities and parallel manipulators in singularity to achieve them. Kinematic singularities of parallel structures are indeed advantageously used to propose compliant mechanisms with interesting stiffness properties. The approach is first illustrated by an example, the design of a one degree of freedom compliant architecture. Then the method is used to design a medical device where a compliant mechanism with three degrees of freedom is needed. The interest of the approach is outlined after application of the method.
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Dates and versions

hal-00971681 , version 1 (03-04-2014)

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Lennart Rubbert, Stéphane Caro, Jacques Gangloff, Pierre Renaud. Using Singularities of Parallel Manipulators for Enhancing the Rigid-body Replacement Design Method of Compliant Mechanisms. Journal of Mechanical Design, 2014, 136, pp.051010-1-051010-9. ⟨10.1115/1.4026949⟩. ⟨hal-00971681⟩
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