Novel design of a 3-PUU spatial compliant parallel micromanipulator for nanomanipulation | |
Li Y.; Xu Q.![]() | |
2005-11-17 | |
Conference Name | IEEE International Conference on Mechatronics Automation |
Source Publication | IEEE International Conference on Mechatronics and Automation, ICMA 2005 |
Pages | 1575-1580 |
Conference Date | JUL 29-AUG 01, 2005 |
Conference Place | Niagara Falls, CANADA |
Abstract | According to the requirement of nanomanipulation, a new three-prismatic-universal-universal (3-PUU) spatial compliant parallel micromanipulator (CPM) utilizing flexure joints has been proposed in this paper. The system is configurated by a proper selection of hardware and analyzed based upon the established pseudo-rigid-body (PRB) model. The position and velocity kinematic modelings have been performed in details afterwards. In view of the physical constraints imposed by piezoelectric actuators and flexure hinges, the CPM's workspace range is determined analytically. Particularly, it is illustrated that the CPM possesses a fairly regular like workspace with a maximum cuboid defined as usable workspace inscribed and one isotropic configuration involved. Furthermore, the architecture design of the CPM with the goal of achieving a maximum usable workspace is carried out, and the dexterity performance over the workspace has been verified. Simulation results reveal that the compact CPM can perform a high dexterous manipulation within the usable workspace. © 2005 IEEE. |
Keyword | Compliant Mechanisms Kinematic Design Nanomanipulation Parallel Manipulators |
URL | View the original |
Indexed By | SCI |
WOS Research Area | Automation & Control Systems ; Computer Science ; Engineering ; Robotics |
WOS Subject | Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Engineering, Mechanical ; Robotics |
WOS ID | WOS:000238860802080 |
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Citation statistics | |
Document Type | Conference paper |
Collection | DEPARTMENT OF ELECTROMECHANICAL ENGINEERING |
Affiliation | Universidade de Macau |
Recommended Citation GB/T 7714 | Li Y.,Xu Q.. Novel design of a 3-PUU spatial compliant parallel micromanipulator for nanomanipulation[C],2005:1575-1580. |
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