A novel design and analysis of a 3-DOF parallel manipulator for micro/nano manipulation

Yuan Yun, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

2 Citations (Scopus)

Abstract

This paper presents a novel macro/micro 3-DOF parallel platform for micro/nano positioning applications. The kinematics model of the dual parallel mechanism system is established via the stiffness model of individual wide-range flexure hinge and vector-loop equation. The inverse kinematics is analyzed and simulated on a parallel mechanism with real parameters. Whereafter, the reachable and usable workspace of the macro motion and micro motion of the mechanism are plotted. Finally, the influence of load acted on the moving platform is discussed. The investigations of this paper will provide suggestions to improve the structure and control algorithm optimization for the dual parallel mechanism in order to achieve the feature of both larger workspace and higher motion precision.
Original languageEnglish
Title of host publicationIEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008
DOIs
Publication statusPublished - 1 Dec 2008
Externally publishedYes
EventIEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008 - Taipei, Taiwan
Duration: 23 Aug 200825 Aug 2008

Conference

ConferenceIEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008
CountryTaiwan
CityTaipei
Period23/08/0825/08/08

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition

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