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Stiffness and statics analysis of a compact 3-PRC parallel micromanipulator for micro/nano scale manipulation
Li Y.; Xu Q.
Conference NameIEEE International Conference on Robotics and Biomimetics (ROBIO 2007)
Source Publication2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Conference DateDEC 15-18, 2007
Conference PlaceSanya, PEOPLES R CHINA

The stiffness and statics models of an improved 3-PRC (three-prismatic- revolute-cylindrical) compact compliant parallel micromanipulator (CPM) are established in this paper, which are quite necessary in selecting actuators according to the output forces. By investigating the elastic deformations in each flexure hinge, the statics equations relating the actuator's forces to both the applied external forces and induced internal forces are obtained. And the stiffness model in the degree-of-freedom directions of the CPM is estimated as well. The established models have been validated via the finite element analysis performed with ANSYS software package. Furthermore, the variation tendencies of the stiffness with respect to the CPM architectural parameters have been obtained based upon the stiffness model. The presented results are valuable for both design and development of a new CPM for micro/nano scale manipulation. © 2008 IEEE.

KeywordFlexure Hinges Micro Motion Parallel Manipulators Statics Stiffness
URLView the original
Indexed BySCI
WOS Research AreaAutomation & Control Systems ; Computer Science ; Engineering ; Robotics
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Biomedical ; Engineering, Electrical & Electronic ; Robotics
WOS IDWOS:000257065800011
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Cited Times [WOS]:1   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
AffiliationUniversidade de Macau
Recommended Citation
GB/T 7714
Li Y.,Xu Q.. Stiffness and statics analysis of a compact 3-PRC parallel micromanipulator for micro/nano scale manipulation[C],2007:59-64.
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