Experiment design in compliant mechanisms and kinematic identification of parallel mechanisms



Título de la revista

ISSN de la revista

Título del volumen


Universidad EAFIT


This article discusses a procedure for force-displacement modeling compliant mechanisms by using a design of computer experiments methodology -- This approach produces a force-displacement meta-model that is suited for real-time control of compliant mechanisms -- The term meta-model is used to represent a simplified and efficient mathematical model of unknown phenomena -- The meta-modeling of compliant mechanisms is performed from virtual experiments based on factorial- and space-filling design of experiments -- The procedure is used to model the quasi-static behavior of the HexFlex compliant mechanism -- The HexFlex is a parallel compliant mechanism for nano-manipulation that allows six degrees of freedom of its moving stage -- The meta-model of the HexFlex is calculated from experiments with the Finite Element Method (FEM) -- The obtained meta-model for the HexFlex is linear for the range of movement of the mechanism -- The accuracy of the meta-model was calculated conducting a set of computer experiments with random uniform distribution of the input forces -- Three criteria were calculated in each displacement direction (x, y, z, θx, θy, θz) comparing the meta-model prediction with respect to the results of the virtual experiments: 1. maximum of the absolute value of the error, 2. relative error, and 3. root mean square error -- The maximum errors were founded adequate with respect to demanding manufacturing tolerances (absolute errors) and lower than errors reported by other authors (relative errors)


Palabras clave

Metamodelos, Cinemática inversa, Ángulos de Euler, Deformación elástica, Deformaciones cuasi-estáticas