T-Flex: A large range of motion fully flexure-based 6-DOF hexapod (2024)

Naves, M., Hakvoort, W. B. J., Nijenhuis, M. (2020). T-Flex: A large range of motion fully flexure-based 6-DOF hexapod. In R. K. Leach, D. Billington, C. Nisbet, & D. Phillips (Eds.), Proceedings of the 20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020 (pp. 205-208). EUSPEN. https://www.euspen.eu/knowledge-base/ICE20183.pdf

Naves, M. ; Hakvoort, W.B.J. ; Nijenhuis, M. et al. / T-Flex : A large range of motion fully flexure-based 6-DOF hexapod. Proceedings of the 20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020. editor / R.K. Leach ; D. Billington ; C. Nisbet ; D. Phillips. EUSPEN, 2020. pp. 205-208

@inproceedings{242b4da5e28b4fe0943307502348f46e,

title = "T-Flex: A large range of motion fully flexure-based 6-DOF hexapod",

abstract = "Six degree of freedom manipulation provides full control over position and orientation, essential for many applications. However, six degree of freedom closed kinematic (parallel) manipulators either have a limited range of motion combined with a good repeatability when comprising flexure joints, or they have limited repeatability with a large workspace when using traditional rolling- or sliding-element bearings. Employing recent developments in large stroke flexures and design optimization, a fully flexure-based large range of motion hexapod robot has been designed. The resulting system allows for ±100 mm of translational and more than ±10 degrees of rotational range of motion in each direction combined with a small mechanism volume below 0.25 m3. Furthermore, a dedicated flexure-based design for the actuators combines high actuation forces without impairing precision, allowing for accelerations exceeding 10g. Experiments on a preliminary prototype validate the large workspace and confirm a high repeatability below 0.1 µm can be achieved, which is currently limited by electronics.",

keywords = "Flexure mechanism, Hexapod, Large range of motion, Parallel manipulator",

author = "M. Naves and W.B.J. Hakvoort and M. Nijenhuis and D.M. Brouwer",

year = "2020",

month = jan,

day = "1",

language = "English",

pages = "205--208",

editor = "R.K. Leach and D. Billington and C. Nisbet and D. Phillips",

booktitle = "Proceedings of the 20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020",

publisher = "EUSPEN",

note = "20th EUSPEN International Conference & Exhibition, EUSPEN 2020, EUSPEN ; Conference date: 08-06-2020 Through 12-06-2020",

}

Naves, M, Hakvoort, WBJ, Nijenhuis, M 2020, T-Flex: A large range of motion fully flexure-based 6-DOF hexapod. in RK Leach, D Billington, C Nisbet & D Phillips (eds), Proceedings of the 20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020. EUSPEN, pp. 205-208, 20th EUSPEN International Conference & Exhibition, EUSPEN 2020, Geneva, Austria, 8/06/20. <https://www.euspen.eu/knowledge-base/ICE20183.pdf>

T-Flex: A large range of motion fully flexure-based 6-DOF hexapod. / Naves, M.; Hakvoort, W.B.J.; Nijenhuis, M. et al.
Proceedings of the 20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020. ed. / R.K. Leach; D. Billington; C. Nisbet; D. Phillips. EUSPEN, 2020. p. 205-208.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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T1 - T-Flex

T2 - 20th EUSPEN International Conference &amp; Exhibition, EUSPEN 2020

AU - Naves, M.

AU - Hakvoort, W.B.J.

AU - Nijenhuis, M.

AU - Brouwer, D.M.

N1 - Conference code: 20

PY - 2020/1/1

Y1 - 2020/1/1

N2 - Six degree of freedom manipulation provides full control over position and orientation, essential for many applications. However, six degree of freedom closed kinematic (parallel) manipulators either have a limited range of motion combined with a good repeatability when comprising flexure joints, or they have limited repeatability with a large workspace when using traditional rolling- or sliding-element bearings. Employing recent developments in large stroke flexures and design optimization, a fully flexure-based large range of motion hexapod robot has been designed. The resulting system allows for ±100 mm of translational and more than ±10 degrees of rotational range of motion in each direction combined with a small mechanism volume below 0.25 m3. Furthermore, a dedicated flexure-based design for the actuators combines high actuation forces without impairing precision, allowing for accelerations exceeding 10g. Experiments on a preliminary prototype validate the large workspace and confirm a high repeatability below 0.1 µm can be achieved, which is currently limited by electronics.

AB - Six degree of freedom manipulation provides full control over position and orientation, essential for many applications. However, six degree of freedom closed kinematic (parallel) manipulators either have a limited range of motion combined with a good repeatability when comprising flexure joints, or they have limited repeatability with a large workspace when using traditional rolling- or sliding-element bearings. Employing recent developments in large stroke flexures and design optimization, a fully flexure-based large range of motion hexapod robot has been designed. The resulting system allows for ±100 mm of translational and more than ±10 degrees of rotational range of motion in each direction combined with a small mechanism volume below 0.25 m3. Furthermore, a dedicated flexure-based design for the actuators combines high actuation forces without impairing precision, allowing for accelerations exceeding 10g. Experiments on a preliminary prototype validate the large workspace and confirm a high repeatability below 0.1 µm can be achieved, which is currently limited by electronics.

KW - Flexure mechanism

KW - Hexapod

KW - Large range of motion

KW - Parallel manipulator

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M3 - Conference contribution

AN - SCOPUS:85091580487

SP - 205

EP - 208

BT - Proceedings of the 20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020

A2 - Leach, R.K.

A2 - Billington, D.

A2 - Nisbet, C.

A2 - Phillips, D.

PB - EUSPEN

Y2 - 8 June 2020 through 12 June 2020

ER -

Naves M, Hakvoort WBJ, Nijenhuis M, Brouwer DM. T-Flex: A large range of motion fully flexure-based 6-DOF hexapod. In Leach RK, Billington D, Nisbet C, Phillips D, editors, Proceedings of the 20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020. EUSPEN. 2020. p. 205-208