UM
An investigation on kinematics and dynamics performance of a novel 3-PRC-compliant parallel micromanipulator
Li, Xiang-Chun; Li, Yangmin; Ding, Bing-Xiao; Xu, Hong-Ye
2018-07-29
Source PublicationADVANCES IN MECHANICAL ENGINEERING
ISSN1687-8140
Volume10Issue:7
AbstractThis article proposes a 3-PRC compliant parallel micromanipulator with 3 degrees of freedom. The piezoelectric actuator is adopted to drive the mechanism, and to compensate the stroke of the piezoelectric actuator, a new type of secondary lever amplification mechanism is designed. The kinematics model of the 3-PRC parallel micromanipulation platform is derived using vector method, and the forward and inverse kinematics solutions of a 3-PRC parallel micromanipulation stage are emphatically analyzed and then the jacobian matrix of kinematics model and workspace are derived. Finally, the dynamic model is established by Lagrange equation, and the natural frequency of the mechanism is calculated. The modal analysis is carried out using finite element method. The results showed that the mechanism has a favorable performance on kinematics and dynamics, and this micromanipulator can achieve micro/nano level motion with high accuracy.
Keyword3-PRC secondary lever amplifier kinematics dynamics
DOI10.1177/1687814018789800
URLView the original
Indexed BySCI
Language英语
WOS Research AreaThermodynamics ; Engineering
WOS SubjectThermodynamics ; Engineering, Mechanical
WOS IDWOS:000444691400001
PublisherSAGE PUBLICATIONS LTD
The Source to ArticleWOS
Fulltext Access
Citation statistics
Cited Times [WOS]:1   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Recommended Citation
GB/T 7714
Li, Xiang-Chun,Li, Yangmin,Ding, Bing-Xiao,et al. An investigation on kinematics and dynamics performance of a novel 3-PRC-compliant parallel micromanipulator[J]. ADVANCES IN MECHANICAL ENGINEERING,2018,10(7).
APA Li, Xiang-Chun,Li, Yangmin,Ding, Bing-Xiao,&Xu, Hong-Ye.(2018).An investigation on kinematics and dynamics performance of a novel 3-PRC-compliant parallel micromanipulator.ADVANCES IN MECHANICAL ENGINEERING,10(7).
MLA Li, Xiang-Chun,et al."An investigation on kinematics and dynamics performance of a novel 3-PRC-compliant parallel micromanipulator".ADVANCES IN MECHANICAL ENGINEERING 10.7(2018).
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