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Design of a compensation mechanism for an active cardiac stabilizer based on an assembly of planar compliant mechanisms

Published online by Cambridge University Press:  22 April 2014

L. Rubbert ,
P. Renaud ,
S. Caro  and
J. Gangloff
L. Rubbert*
Affiliation:
ICube, CNRS, INSA de Strasbourg, Université de Strasbourg, France
P. Renaud
Affiliation:
ICube, CNRS, INSA de Strasbourg, Université de Strasbourg, France
S. Caro
Affiliation:
IRCCyN, CNRS, École Centrale de Nantes, France
J. Gangloff
Affiliation:
ICube, CNRS, INSA de Strasbourg, Université de Strasbourg, France
*
a Corresponding author: lennart.rubbert@epfl.ch
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Abstract

In this paper we present the design of a compact active cardiac stabilizer based on planar compliant mechanisms and piezoelectric actuators. Considering an assembly of planar manufactured structures helps to simplify the manufacturing process and may increase the compactness. Parallel architectures constitute interesting solutions for their intrinsic stiffness properties, but in a planar configuration parallel manipulators often exhibit kinematic singularities. Two design approaches for planar parallel compliant mechanisms are presented in this paper. One design approach consists in designing a passive compliant mechanism in a configuration close to the singularity by introducing some asymmetries during the manufacturing process. The second design approach consists in taking advantage of the singularities of parallel manipulators to obtain non-trivial solutions. The new proposed active stabilizer, composed of planar compliant mechanisms, is introduced and its performances are discussed.

Keywords

Compliant mechanismactive cardiac stabilizermechanism designparallel architecturekinematic singularityGuidages flexiblesstabilisateur cardiaque actifconception de mécanismesarchitecture parallèlesingularité cinématique
Type
Research Article
Information
Mechanics & Industry , Volume 15 , Issue 2 , 2014 , pp. 147 - 151
Copyright
© AFM, EDP Sciences 2014

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