Abstract
In order to improve the stability of the optical system, which is affected by the lateral compliance of the pointing mechanism, the compliance of the hexapod platform with flexure hinges is investigated in depth in this paper. Firstly, a hexapod platform with flexure hinges is presented. Secondly, the compliance model of the platform is established based on the virtual work theory and the superposition relationship of the deformation. Then, the compliance is analyzed based on the configuration parameters. The analysis results show that the lateral compliance has good consistency, and it is significantly higher than the axial compliance. Next, the compliance is subjected to multi-objective optimization, and the multi-objective function is established based on the configuration parameters. Finally, a rigid-flexible coupled multi-body simulation system is built to verify the correctness of the compliance and optimization. The simulation results show that the maximum relative error between the simulation results and the theoretical results does not exceed 10%, which can meet the requirements of engineering application. The findings provide a simple and effective method for determining the configuration parameters of the hexapod platform with flexure hinges in this paper.
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Acknowledgment
The work was supported by the Jilin Scientific and Technological Development Program (No. 20220204116YY) and the National Natural Science Foundation of China (No. 62235018).
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Wang, X., Yu, Y., Xu, Z., Zhang, Y. (2023). Performance Analysis and Configuration Optimization of a Hexapod Platform with Flexure Hinges. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14273. Springer, Singapore. https://doi.org/10.1007/978-981-99-6498-7_33
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