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Dynamics analysis of a modified 3-PRC compliant parallel micromanipulator
Li Y.; Xu Q.
2007-12-01
Source Publication2007 7th IEEE International Conference on Nanotechnology - IEEE-NANO 2007, Proceedings
Pages432-437
AbstractThe dynamics of a 3-PRC (three-prismatic-revolute-cylindrical) compliant parallel micromanipulator (CPM) is investigated in this paper, which is quite necessary once the high frequency control is concerned. By expressing both potential and kinetic energies of the CPM with the chosen generalized coordinates, the dynamic equation is established through the Lagrangian approach. And the dynamic model is validated by the finite element analysis performed in ANSYS software, where the modal analysis is carried out with the mode shapes and natural frequencies extracted. Moreover, as a further utility of the derived model, the variation tendency of the natural frequency versus the design parameters are obtained as well. The generated results are valuable for both the design and control of a 3-PRC CPM for micro/nano scale manipulation. © 2007 IEEE.
KeywordDesign theory Dynamics Flexure hinges Parallel manipulators
DOI10.1109/NANO.2007.4601226
URLView the original
Language英語
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Document TypeConference paper
专题University of Macau
AffiliationUniversidade de Macau
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Li Y.,Xu Q.. Dynamics analysis of a modified 3-PRC compliant parallel micromanipulator[C],2007:432-437.
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