Optimization of Desired Multiple Resonant Modes of Compliant Parallel Mechanism Using Specific Frequency Range and Targeted Ratios
Abstract
:1. Introduction
2. Synthesis of the 6-DoF CPM with Specified Resonant Modes
2.1. Synthesis Process
2.2. Stiffness Modeling and Optimization of the 6-DoF CPM
2.3. The Novel Objective Function for Optimizing Multiple Resonant Frequencies
2.4. Dynamic Modeling and Optimization of 6-DoF CPM
2.5. Summary of Results
3. Experimental Investigation of the 6-DoF CPM Prototype
3.1. Dynamic Experiment of the Prototype
3.2. Compliance Experiment of the Prototype
4. Discussion of the Results
5. Conclusion
Author Contributions
Funding
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Resonant Mode | Targeted Ratio | Obtained Ratio | Deviation (%) |
---|---|---|---|
1 | 1 | 0 | |
2 | 1.89 | 5.50 | |
3 | 3.15 | 5.00 | |
5 | 5.22 | 4.40 | |
5 | 5.22 | 4.40 |
Actuating Direction | Predicted Resonant Frequency (Hz) | FEA Resonant Frequency (Hz) | Deviation (%) |
---|---|---|---|
Along X—axis | 96.15 | 95.31 | 0.87 |
Along Y—axis | 96.15 | 95.33 | 0.85 |
Along Z—axis | 182.01 | 179.75 | 1.24 |
About Z—axis | 302.88 | 298.86 | 1.33 |
About X—axis | 501.45 | 496.89 | 0.91 |
About Y—axis | 501.45 | 497.07 | 0.87 |
Actuating Direction | Predicted Compliance (m/N) or (rad/Nm) | FEA Compliance (m/N) or (rad/Nm) | Deviation (%) |
---|---|---|---|
Along X—axis | 1.96 | ||
Along Y—axis | 1.96 | ||
Along Z—axis | 1.35 | ||
About X—axis | 1.79 | ||
About Y—axis | 1.79 | ||
About Z—axis | 2.55 |
Actuating Direction | Along X-Axis | Along Y-Axis | Along Z-Axis | About X-Axis | About Y-Axis | About Z-Axis |
---|---|---|---|---|---|---|
Full Range of Motion (±Range of Motion) | 10.0 mm (±5.0 mm) | 8.8 mm (±4.4 mm) | 4.6 mm (±2.3 mm) | 4.6° (±2.3°) | 4.4° (±2.2°) | 10.8° (±5.4°) |
Actuating Direction | Along X-Axis | Along Y-Axis | Along Z-Axis | About Z-Axis | About X-Axis | About Y-Axis |
---|---|---|---|---|---|---|
Resonant Frequency (Hz) | 82.83 | 82.83 | 182.01 | 274.25 | 501.45 | 501.45 |
Actuating Direction | Predicted Resonant Frequency (Hz) | Experimental Resonant Frequency (Hz) | Deviation (%) |
---|---|---|---|
Along X—axis | 82.83 | 75.03 | 9.42 |
Along Y—axis | 82.83 | 75.03 | 9.42 |
Along Z—axis | 182.01 | 165.60 | 9.02 |
About Z—axis | 274.25 | 278.86 | 1.68 |
About X—axis | 501.45 | 476.44 | 4.99 |
About Y—axis | 501.45 | 462.68 | 7.73 |
Actuating Direction | Predicted Compliance (m/N) or (rad/Nm) | Experimental Compliance (m/N) or (rad/Nm) | Deviation (%) |
---|---|---|---|
Along X—axis | 0.98 | ||
Along Y—axis | 5.88 | ||
Along Z—axis | 10.77 | ||
About X—axis | 5.36 | ||
About Y—axis | 6.25 | ||
About Z—axis | 2.55 |
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Low, V.; Yeo, S.H.; Pham, M.T. Optimization of Desired Multiple Resonant Modes of Compliant Parallel Mechanism Using Specific Frequency Range and Targeted Ratios. Machines 2024, 12, 585. https://doi.org/10.3390/machines12080585
Low V, Yeo SH, Pham MT. Optimization of Desired Multiple Resonant Modes of Compliant Parallel Mechanism Using Specific Frequency Range and Targeted Ratios. Machines. 2024; 12(8):585. https://doi.org/10.3390/machines12080585
Chicago/Turabian StyleLow, Vin, Song Huat Yeo, and Minh Tuan Pham. 2024. "Optimization of Desired Multiple Resonant Modes of Compliant Parallel Mechanism Using Specific Frequency Range and Targeted Ratios" Machines 12, no. 8: 585. https://doi.org/10.3390/machines12080585