Abstract
This paper presents the design and analysis of a novel compliant flexure-based micro-parallel manipulator with gripper, which is with translational 3-DOF and driven by electromagnetic actuators. The stage is constructed with a symmetrical structure by employing three parallel PUU legs, a moving platform and a fixed platform. The mobility characteristics of the stage is analyzed and proved via FEA method. The kinematics and dynamic modeling of the mechanical system of the stage are conducted by resorting to compliance matrix method, and analytical models for electromagnetic forces are also established, both mechanical structure and electromagnetic model are validated by finite element analysis(FEA) performed with ANSYS. The mechanical structures is analyzed in a multi-physics environmental simulation and electromagnetic actuators are applied in ANSYS too. Both FEA and the analytical models well demonstrate that the movement of the stage is purely translational. Based on the designed parameters, this micro-parallel manipulator can have a large workspace, a very high resolution, and a heavy payload ability.
Original language | English |
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Title of host publication | 6th IFAC Symposium on Mechatronic Systems, MECH 2013 |
Publisher | IFAC Secretariat |
Pages | 606-611 |
Number of pages | 6 |
Volume | 46 |
Edition | 5 |
ISBN (Print) | 9783902823311 |
DOIs | |
Publication status | Published - 1 Jan 2013 |
Externally published | Yes |
Event | 6th IFAC Symposium on Mechatronic Systems, MECH 2013 - Hangzhou, China Duration: 10 Apr 2013 → 12 Apr 2013 |
Conference
Conference | 6th IFAC Symposium on Mechatronic Systems, MECH 2013 |
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Country/Territory | China |
City | Hangzhou |
Period | 10/04/13 → 12/04/13 |
ASJC Scopus subject areas
- Control and Systems Engineering