Volume 15, Issue 3 (5-2015)                   Modares Mechanical Engineering 2015, 15(3): 173-180 | Back to browse issues page

‎ 20.1001.1.10275940.1394.15.3.22.2

XML Persian Abstract Print

Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
Rouhani Esfahani E, Nategh M J. Instantaneous Center of Rotation of Flexure Joints and Velocity Kinematic Analysis of Microhexapod Using Screw Theory. Modares Mechanical Engineering 2015; 15 (3) :173-180
URL: http://mme.modares.ac.ir/article-15-4818-en.html
Instantaneous Center of Rotation of Flexure Joints and Velocity Kinematic Analysis of Microhexapod Using Screw Theory
Ehsan Rouhani Esfahani , Mohammad Javad Nategh *
Abstract:   (5273 Views)
In this article microhexapod robot is introduced as a micromanipulator. First hexapod which is a parallel mechanism is investigated and also modifications that is needed for the improvement of positioning accuracy and eliminating factors such as clearance and friction in the conventional joints. Doing this, spherical and universal joints are replaced with flexural beam type joints after scaling down the hexapod. Then the degrees of freedom of flexure joints are achieved and after that the instantaneous center of rotation of flexure joints is derived for every finite twist of moving platform and it is shown that the kinematic chain of each pod of microhexapod consists of two spherical joints and a prismatic actuator; but it differs from hexapod in a way the location of the instantaneous center changes with the change of the finite twist of moving platform. Thereafter the velocity kinematics of microhexapod is solved using screw theory. In addition, using the analytical formula, the velocity of actuators was calculated for some case studies; linear motion of moving platform with constant velocity and also constant acceleration and also movement with constant velocity in a circular path. The results are verified with the finite element analysis and shown good agreement.
Keywords: Microhexapod, Flexure Joint, Instantaneous Center of Rotation, Velocity Kinematics
Full-Text [PDF 659 kb]   (4050 Downloads)    
Article Type: Research Article | Subject: Dynamics, Cinematics & Mechanisms
Received: 2014/11/9 | Accepted: 2014/12/23 | Published: 2015/01/31
Add your comments about this article : Your username or Email:
CAPTCHA
Rights and permissions
Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.