An investigation on kinematics and dynamics performance of a novel 3-PRC-compliant parallel micromanipulator

Xiang Chun Li; Yangmin Li; Bing Xiao Ding; Hong Ye Xu

doi:10.1177/1687814018789800

An investigation on kinematics and dynamics performance of a novel 3-PRC-compliant parallel micromanipulator

Xiang Chun Li, Yangmin Li (Corresponding Author), Bing Xiao Ding, Hong Ye Xu

Research output: Journal article publication › Journal article › Academic research › peer-review

5 Citations (Scopus)

Abstract

This article proposes a 3-PRC compliant parallel micromanipulator with 3 degrees of freedom. The piezoelectric actuator is adopted to drive the mechanism, and to compensate the stroke of the piezoelectric actuator, a new type of secondary lever amplification mechanism is designed. The kinematics model of the 3-PRC parallel micromanipulation platform is derived using vector method, and the forward and inverse kinematics solutions of a 3-PRC parallel micromanipulation stage are emphatically analyzed and then the Jacobian matrix of kinematics model and workspace are derived. Finally, the dynamic model is established by Lagrange equation, and the natural frequency of the mechanism is calculated. The modal analysis is carried out using finite element method. The results showed that the mechanism has a favorable performance on kinematics and dynamics, and this micromanipulator can achieve micro/nano level motion with high accuracy.

Original language	English
Journal	Advances in Mechanical Engineering
Volume	10
Issue number	7
DOIs	https://doi.org/10.1177/1687814018789800
Publication status	Published - 1 Jul 2018

Keywords

3-PRC
dynamics
kinematics
secondary lever amplifier

ASJC Scopus subject areas

Mechanical Engineering

More information

10.1177/1687814018789800

http://hdl.handle.net/10397/87637

Cite this

@article{2a0e49e3147a4052800a952a2bfedb1d,

title = "An investigation on kinematics and dynamics performance of a novel 3-PRC-compliant parallel micromanipulator",

abstract = "This article proposes a 3-PRC compliant parallel micromanipulator with 3 degrees of freedom. The piezoelectric actuator is adopted to drive the mechanism, and to compensate the stroke of the piezoelectric actuator, a new type of secondary lever amplification mechanism is designed. The kinematics model of the 3-PRC parallel micromanipulation platform is derived using vector method, and the forward and inverse kinematics solutions of a 3-PRC parallel micromanipulation stage are emphatically analyzed and then the Jacobian matrix of kinematics model and workspace are derived. Finally, the dynamic model is established by Lagrange equation, and the natural frequency of the mechanism is calculated. The modal analysis is carried out using finite element method. The results showed that the mechanism has a favorable performance on kinematics and dynamics, and this micromanipulator can achieve micro/nano level motion with high accuracy.",

keywords = "3-PRC, dynamics, kinematics, secondary lever amplifier",

author = "Li, {Xiang Chun} and Yangmin Li and Ding, {Bing Xiao} and Xu, {Hong Ye}",

year = "2018",

month = jul,

day = "1",

doi = "10.1177/1687814018789800",

language = "English",

volume = "10",

journal = "Advances in Mechanical Engineering",

issn = "1687-8132",

publisher = "SAGE Publications Inc.",

number = "7",

}

TY - JOUR

T1 - An investigation on kinematics and dynamics performance of a novel 3-PRC-compliant parallel micromanipulator

AU - Li, Xiang Chun

AU - Li, Yangmin

AU - Ding, Bing Xiao

AU - Xu, Hong Ye

PY - 2018/7/1

Y1 - 2018/7/1

N2 - This article proposes a 3-PRC compliant parallel micromanipulator with 3 degrees of freedom. The piezoelectric actuator is adopted to drive the mechanism, and to compensate the stroke of the piezoelectric actuator, a new type of secondary lever amplification mechanism is designed. The kinematics model of the 3-PRC parallel micromanipulation platform is derived using vector method, and the forward and inverse kinematics solutions of a 3-PRC parallel micromanipulation stage are emphatically analyzed and then the Jacobian matrix of kinematics model and workspace are derived. Finally, the dynamic model is established by Lagrange equation, and the natural frequency of the mechanism is calculated. The modal analysis is carried out using finite element method. The results showed that the mechanism has a favorable performance on kinematics and dynamics, and this micromanipulator can achieve micro/nano level motion with high accuracy.

AB - This article proposes a 3-PRC compliant parallel micromanipulator with 3 degrees of freedom. The piezoelectric actuator is adopted to drive the mechanism, and to compensate the stroke of the piezoelectric actuator, a new type of secondary lever amplification mechanism is designed. The kinematics model of the 3-PRC parallel micromanipulation platform is derived using vector method, and the forward and inverse kinematics solutions of a 3-PRC parallel micromanipulation stage are emphatically analyzed and then the Jacobian matrix of kinematics model and workspace are derived. Finally, the dynamic model is established by Lagrange equation, and the natural frequency of the mechanism is calculated. The modal analysis is carried out using finite element method. The results showed that the mechanism has a favorable performance on kinematics and dynamics, and this micromanipulator can achieve micro/nano level motion with high accuracy.

KW - 3-PRC

KW - dynamics

KW - kinematics

KW - secondary lever amplifier

UR - http://www.scopus.com/inward/record.url?scp=85050965758&partnerID=8YFLogxK

U2 - 10.1177/1687814018789800

DO - 10.1177/1687814018789800

M3 - Journal article

AN - SCOPUS:85050965758

SN - 1687-8132

VL - 10

JO - Advances in Mechanical Engineering

JF - Advances in Mechanical Engineering

IS - 7

ER -

An investigation on kinematics and dynamics performance of a novel 3-PRC-compliant parallel micromanipulator

Abstract

Keywords

ASJC Scopus subject areas

More information

Other files and links

Fingerprint

Cite this