Novel design of a 3-PUU spatial compliant parallel micromanipulator for nanomanipulation
Li Y.; Xu Q.
Conference NameIEEE International Conference on Mechatronics Automation
Source PublicationIEEE International Conference on Mechatronics and Automation, ICMA 2005
Conference DateJUL 29-AUG 01, 2005
Conference PlaceNiagara Falls, CANADA

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.

KeywordCompliant Mechanisms Kinematic Design Nanomanipulation Parallel Manipulators
URLView the original
Indexed BySCI
WOS Research AreaAutomation & Control Systems ; Computer Science ; Engineering ; Robotics
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Engineering, Mechanical ; Robotics
WOS IDWOS:000238860802080
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Cited Times [WOS]:4   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
AffiliationUniversidade 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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