Title :
A Piezo-Actuated High-Precision Flexible Parallel Pointing Mechanism: Conceptual Design, Development, and Experiments
Author :
Zhijiang Du ; Ruochong Shi ; Wei Dong
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
A high-precision pointing mechanism for intersatellite optical communication is presented in this paper, which employs flexure hinges as the passive joints and orients its moving platform by means of six piezoelectric actuators. The proposed mechanism features submicroradian resolution and microradian repeatability within a submilliradian pointing range. A corner-filleted flexure hinge considering manufacturing tolerance with high motion accuracy and large displacement is designed based on performance analysis, and the theoretical analysis is also validated by FEA simulation and experimental testing within a 5% error margin. The parameters of the parallel mechanism are synthesized by multiobjective optimization on the basis of inverse kinematics model. Moreover, the workspace determination and the FEA analysis of the optimized mechanism are also performed. Finally, a high-precision pointing prototype is fabricated and the performance testing has been implemented, which validate the effectiveness of the proposed system.
Keywords :
bending; finite element analysis; hinges; kinematics; optical communication; optimisation; piezoelectric actuators; FEA simulation; corner-filleted flexure hinge; experimental testing; intersatellite optical communication; inverse kinematics model; manufacturing tolerance; microradian repeatability; multiobjective optimization synthesis; passive joint; piezoactuated high-precision flexible parallel pointing mechanism:; piezoelectric actuator; submicroradian resolution; submilliradian pointing range; Actuators; Fasteners; Indexes; Joints; Kinematics; Optimization; Robots; Flexure hinge; high-precision pointing mechanism; parallel mechanism; structural optimization;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2013.2288800