Investigation of 2-DOF Compliant Translational Parallel Mechanism and Applied in the Docking Device

doi:10.3901/JME.2019.11.114

Abstract

Abstract: The pseudo-rigid-body model is used to study the elastic force and the stiffness characteristics of the flexible curved beam. Based on that, the stiffness of the flexible curved beam is deduced. The results show that the stiffness of the curved beam can be improved by changing the pre-deformation of the curved beam, which makes the curved beam has the characteristics of the approximate linear stiffness. By virtue of this feature, a kind of kinematic chain formed by double curved beams is Proposed. Based on the pseudo-rigid-body model and screw theory, the mobility and the kinematics of the double-curved-beam branch are discussed. A novel 2-DOF compliant translational parallel mechanism is designed. The simplified kinematic and dynamic equations of this mechanism are deduced, and the work space, the stiffness performance and the ultimate torque of the parallel mechanism platform are analyzed. Finally, the prototype of this compliant parallel mechanism is manufactured to verify its kinematic characteristics. The 2-DOF compliant translational parallel mechanism is applied to the design of the docking device of the water sample collection system on USV. The docking process is simulated by ADAMS. The results show that this device makes the docking between the male and female connectors smooth with the circumstance of large radial translational deviation and angular deviation.

Key words: compliant translational parallel mechanism, docking device, flexible curved beam, pseudo-rigid-body

CLC Number:

TH112

YANG Yi, LU Bizhou, LI Xiaomao, YAO Junfeng, PU Huayan, PENG Yan. Investigation of 2-DOF Compliant Translational Parallel Mechanism and Applied in the Docking Device[J]. Journal of Mechanical Engineering, 2019, 55(11): 114-122.

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