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New flexure parallel-kinematic micropositioning system with large workspace
Xu Q.
Source PublicationIEEE Transactions on Robotics

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
URLView the original
Indexed BySCI
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000302505100016
The Source to ArticleScopus
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Cited Times [WOS]:118   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
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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