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Design of a new decoupled XY flexure parallel kinematic manipulator with actuator isolation
Li Y.; Xu Q.
2008-12-01
Conference NameIEEE/RSJ International Conference on Intelligent Robots and Systems
Source Publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages470-475
Conference DateSEP 22-26, 2008
Conference PlaceNice, FRANCE
Abstract

The design procedure for a totally decoupled XY flexure parallel kinematic manipulator is presented in this paper. The designed XY stage is featured with flexure hinges and a relatively simple structure. The output decoupling is allowed by the employment of compound parallelogram flexure, and the input decoupling is implemented by actuation isolation which is enabled by the double compound parallelogram flexure with large transverse stiffness. An improved displacement amplifier is adopted to amplify the stroke of linear actuator and to simplify the stage architecture. Kinematic models of both the amplifier and the XY stage are conducted by resorting to compliance analysis based on matrix method, which are validated by finite element analysis performed with ANSYS. The presented results are helpful for the design of a new XY flexure parallel manipulator for micro/nano scale manipulation. ©2008 IEEE.

DOI10.1109/IROS.2008.4650580
URLView the original
Indexed BySCI
Language英语
WOS Research AreaComputer Science ; Engineering ; Robotics
WOS SubjectComputer Science, Artificial Intelligence ; Computer Science, Cybernetics ; Computer Science, Theory & Methods ; Engineering, Electrical & Electronic ; Robotics
WOS IDWOS:000259998200074
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Citation statistics
Cited Times [WOS]:8   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationUniversidade de Macau
Recommended Citation
GB/T 7714
Li Y.,Xu Q.. Design of a new decoupled XY flexure parallel kinematic manipulator with actuator isolation[C],2008:470-475.
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