Abstract
This article represents modeling of double parallelogram flexural manipulator derived from basic classical mechanics theory. Fourth order vibration wave equation is used for mathematical modeling and its performance is determined for step input and sinusoidal forced input. Static characterization of DFM is carried out to determine stiffness and force deflection characteristics over the entire motion range and dynamic characteristics is carried out using Transient response and Frequency response. Transient response is determined using step input to DFM which gives system properties such as damping, rise time and settling time. These parameters are then compared with theoretical model presented previously. Frequency response of DFM system gives characteristics of system with different frequency inputs which is used for experimental modeling of DFM device. Here, Voice Coil Motor is used as Actuator and optical encoder is used for positioning sensing of motion stage. It is noted that theoretical model is having 5% accuracy with experimental results. To achieve better position and accuracy, PID and LQR (Linear Quadratic Regulator) implementation was carried out on experimental model. PID gains are optimally tuned by using Ziegler Nichols approach. PID control is implemented experimentally using dSPACE DS1104 microcontroller and Control Desk software. Experimentally, it is observed that positioning accuracy is less than 5 μm. Further multiple DFM blocks are arranged for developing XY flexural mechanism and static characterization was carried out on it. The comparison of experimental and FEA results for X-direction and Y-direction is presented at end of paper.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Awatar S (2004) Synthesis and analysis of parallel kinematic xy flexure mechanism. Ph.D. thesis, Massachusetts Institute of Technology, Cambridge, MA
Dejima S, Gao W, Shimizu H, Kiyono S, Tomita Y (2005) Precision positioning of a five degree-of-freedom planar motion stage. Mechatronics 15(8):969–987
Deshmukh S, Gandhi PS (2009) Optomechanical scanning systems for microstereolithography (MSL): analysis and experimental verification. J Mater Process Technol 209(3):1275–1285
Awtar S, Slocum A (2005) Design of parallel kinematic XY flexural mechanism. In: Proceedings of IDETC/CIE ASME 2005 international design engineering technical conferences and computers and information in engineering conference, Long Beach, California, USA, September 2005
Gandhi PS, Sonawale K, Soni V (2011) Development of double parallelogram flexure mechanism via assembly route. In: 15th national conference on machines and mechanisms, pp 1–9
Lobontiu N (2003) Compliant mechanisms: design of flexure hinges. CRC Press, Boca Raton
Deshmukh S, Gandhi P (2007) A novel optomechatronic focused laser spot submicron scanning system for microstereolithography. Poster presented at international conference on nanotechnology, Bangalore, India
Yao Q, Dong J, Ferreira PM (2007) Design, analysis, fabrication and testing of a parallel-kinematic micropositioning XY stage. Int J Mach Tools Manuf 47(6):946–961
Kim HS, Cho YM (2009) Design and modeling of a novel 3-DOF precision micro-stage. Mechatronics 19(5):598–608
Li Y, Xu Q (2009) Modeling and performance evaluation of a flexure-based XY parallel micromanipulator. Mech Mach Theory 44(12):2127–2152
Deshmukh SP, Zambare H, Mate K, Shewale MS, Khan Z (2015) System identification and PID implementation on double flexural manipulator. In: 2015 international conference on nascent technologies in the engineering field, ICNTE 2015—proceedings, pp 1–5, February 2015
Patil R, Deshmukh S, Reddy YP, Mate K (2015) FEA analysis and experimental investigation of building blocks for flexural mechanism. In: 2015 international conference on nascent technologies in the engineering field, ICNTE 2015—proceedings, Feburary 2015
Tian Y, Shirinzadeh B, Zhang D, Liu X, Chetwynd D (2009) Design and forward kinematics of the compliant micro-manipulator with lever mechanisms. Precis Eng 33(4):466–475
Clement R, Huang JL, Sun ZH, Wang JZ, Zhang WJ (2013) Motion and stress analysis of direct-driven compliant mechanisms with general-purpose finite element software. Int J Adv Manuf Technol 65(9–12):1409–1421
Lescano S et al (2013) Micromechanisms for laser phonosurgery: a review of actuators and complaints parts. HAL Id: hal-00799755, March 2013
Buice S, Otten D, Yang RH, Smith ST, Hocken RJ, Trumper DL (2009) Design evaluation of a single-axis precision controlled positioning stage. Precis Eng 33(4):418–424
Liu YT, Li BJ (2010) Precision positioning device using the combined piezo-VCM actuator with frictional constraint. Precis Eng 34(3):534–545
Kim W, Verma S, Shakir H (2007) Design and precision construction of novel magnetic-levitation-based multi-axis nanoscale positioning systems. Precis Eng 31(4):337–350
Chu L, Fan SH (2006) A novel long-travel piezoelectric-driven linear nanopositioning stage. Precis Eng 30(1):85–95
Zhang D, Chang C, Ono T, Esashi M (2003) A piezodriven XY-microstage for multiprobe nanorecording. Sens Actuators, A Phys 108(1–3):230–233
Liu H, Jywe WY, Jeng YR, Hsu TH, Li Y (2010) Design and control of a long-traveling nano-positioning stage. Precis Eng 34(3):497–506
He L, Fu H, Sun D, Karkee M, Zhang Q (2017) Shake-and-catch harvesting for fresh market apples in trellis-trained trees. Trans ASABE 60(2):353–360
Mulik S, Krishnmoorthy A, Deshmukh S (2018) Flexural mechanisms for high precise scanning applications: a review. Int J Mech Eng Technol 9(4):312–327
Bhagat U et al (2014) Design and analysis of a novel flexure-based 3-DOF mechanism. Mech Mach Theory 74:173–187
Shewale MS et al (2018) Design and experimental validation of voice coil motor for high precision applications. Presented at the 3rd IEEE international conference for convergence in technology, pp 1–6, April 6–7, 2018
Shewale MS et al (2018) Design and implementation of position estimator algorithm on voice coil motor. Presented at the 3rd IEEE international conference for convergence in technology, pp 0–4, April 6–7, 2018
Mulik SS, Deshmukh SP, Shewale MS, Zambare HB, Sundare AP (2017) Design and implementation of position estimator algorithm on double flexural manipulator. In: 2017 international conference on nascent technologies in engineering (ICNTE), Navi Mumbai, 2017, pp 1–5. https://doi.org/10.1109/icnte.2017.7947904
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Shewale, M.S., Razban, A., Deshmukh, S.P., Mulik, S.S., Patange, A.D. (2020). Characterization and System Identification of XY Flexural Mechanism Using Double Parallelogram Manipulator for High Precision Scanning. In: Kumar, A., Mozar, S. (eds) ICCCE 2019. Lecture Notes in Electrical Engineering, vol 570. Springer, Singapore. https://doi.org/10.1007/978-981-13-8715-9_47
Download citation
DOI: https://doi.org/10.1007/978-981-13-8715-9_47
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-13-8714-2
Online ISBN: 978-981-13-8715-9
eBook Packages: EngineeringEngineering (R0)