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New flexure parallel-kinematic micropositioning system with large workspace
Xu Q.
2012
Source PublicationIEEE Transactions on Robotics
ISSN15523098
Volume28Issue:2Pages:478
Abstract

Flexure-based micropositioning systems with a large workspace are attractive for a variety of precision engineering applications. In this paper, a new idea of multistage compound parallelogram flexure is proposed for the mechanism design of a novel parallel-kinematic XY micropositioning system, which has a motion range larger than 10 mm along with a compact structure. The established quantitative models and the stage performances are validated by conducting finite-element analysis (FEA) and experimental studies. Moreover, an enhanced model-predictive control (EMPC) is presented for positioning control of the system, which has a nonminimum-phase plant. It is shown that the EMPC is capable of producing a low magnitude of output tracking error by imposing an appropriate suppression on the control effort. Simulation and experimental studies reveal that the EMPC scheme outperforms the conventional proportional-integral-derivative (PID) and MPC methods in terms of transient response speed and steady-state accuracy. The idea that is presented in this paper is extendable to design and control of other micro-/nanopositioning systems with either minimum- or nonminimum-phase plants. © 2012 IEEE.

KeywordMechanism Design Micro/nano Robots Motion Control Parallel Robots Smart Actuators
DOI10.1109/TRO.2011.2173853
URLView the original
Indexed BySCI
Language英语
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000302505100016
The Source to ArticleScopus
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Citation statistics
Cited Times [WOS]:118   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationDepartment of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macao, China
First Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Xu Q.. New flexure parallel-kinematic micropositioning system with large workspace[J]. IEEE Transactions on Robotics,2012,28(2):478.
APA Xu Q..(2012).New flexure parallel-kinematic micropositioning system with large workspace.IEEE Transactions on Robotics,28(2),478.
MLA Xu Q.."New flexure parallel-kinematic micropositioning system with large workspace".IEEE Transactions on Robotics 28.2(2012):478.
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