Conceptual design, performance visualization and dimension improvement of a flexure parallel manipulator

Zhen Gao; Dan Zhang

doi:10.1109/ICCA.2014.6870930

Conceptual design, performance visualization and dimension improvement of a flexure parallel manipulator

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

1 Citation (Scopus)

Abstract

This paper presents a novel three degrees of freedom parallel manipulator based on flexure structure. There are three limbs connected with a moving stage and a fixed platform. Each limb is configured with a multilayer elastic driven mechanism and four flexure hinges. The kinematics model and Jacobian matrix is derived. Dexterity and workspace as two of the most important performance indices are investigated and visualized. Finite element analysis is conducted to observe the various behaviours including deformation, strain and frequency response under different inputs of piezo actuators. Both of the single objective optimization and multi-objective optimization are implemented to seek the optimal performance with the adjustment of dimensional parameters.

Original language	English
Title of host publication	11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
Publisher	IEEE Computer Society
Pages	261-266
Number of pages	6
ISBN (Print)	9781479928378
DOIs	https://doi.org/10.1109/ICCA.2014.6870930
Publication status	Published - 2014
Externally published	Yes
Event	11th IEEE International Conference on Control and Automation, IEEE ICCA 2014 - Taichung, Taiwan Duration: 18 Jun 2014 → 20 Jun 2014

Publication series

Name	IEEE International Conference on Control and Automation, ICCA
ISSN (Print)	1948-3449
ISSN (Electronic)	1948-3457

Conference

Conference	11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
Country/Territory	Taiwan
City	Taichung
Period	18/06/14 → 20/06/14

Keywords

evolutionary algorithm
multi-objective optimization
Parallel manipulator
performances indices

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Control and Systems Engineering
Electrical and Electronic Engineering
Industrial and Manufacturing Engineering

More information

10.1109/ICCA.2014.6870930

Cite this

Gao, Z., & Zhang, D. (2014). Conceptual design, performance visualization and dimension improvement of a flexure parallel manipulator. In 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014 (pp. 261-266). Article 6870930 (IEEE International Conference on Control and Automation, ICCA). IEEE Computer Society. https://doi.org/10.1109/ICCA.2014.6870930

@inproceedings{4246e120ffa34dd39a59a4cebfe29e1d,

title = "Conceptual design, performance visualization and dimension improvement of a flexure parallel manipulator",

abstract = "This paper presents a novel three degrees of freedom parallel manipulator based on flexure structure. There are three limbs connected with a moving stage and a fixed platform. Each limb is configured with a multilayer elastic driven mechanism and four flexure hinges. The kinematics model and Jacobian matrix is derived. Dexterity and workspace as two of the most important performance indices are investigated and visualized. Finite element analysis is conducted to observe the various behaviours including deformation, strain and frequency response under different inputs of piezo actuators. Both of the single objective optimization and multi-objective optimization are implemented to seek the optimal performance with the adjustment of dimensional parameters.",

keywords = "evolutionary algorithm, multi-objective optimization, Parallel manipulator, performances indices",

author = "Zhen Gao and Dan Zhang",

year = "2014",

doi = "10.1109/ICCA.2014.6870930",

language = "English",

isbn = "9781479928378",

series = "IEEE International Conference on Control and Automation, ICCA",

publisher = "IEEE Computer Society",

pages = "261--266",

booktitle = "11th IEEE International Conference on Control and Automation, IEEE ICCA 2014",

address = "United States",

note = "11th IEEE International Conference on Control and Automation, IEEE ICCA 2014 ; Conference date: 18-06-2014 Through 20-06-2014",

}

Gao, Z & Zhang, D 2014, Conceptual design, performance visualization and dimension improvement of a flexure parallel manipulator. in 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014., 6870930, IEEE International Conference on Control and Automation, ICCA, IEEE Computer Society, pp. 261-266, 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014, Taichung, Taiwan, 18/06/14. https://doi.org/10.1109/ICCA.2014.6870930

Conceptual design, performance visualization and dimension improvement of a flexure parallel manipulator. / Gao, Zhen; Zhang, Dan.
11th IEEE International Conference on Control and Automation, IEEE ICCA 2014. IEEE Computer Society, 2014. p. 261-266 6870930 (IEEE International Conference on Control and Automation, ICCA).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

TY - GEN

T1 - Conceptual design, performance visualization and dimension improvement of a flexure parallel manipulator

AU - Gao, Zhen

AU - Zhang, Dan

PY - 2014

Y1 - 2014

N2 - This paper presents a novel three degrees of freedom parallel manipulator based on flexure structure. There are three limbs connected with a moving stage and a fixed platform. Each limb is configured with a multilayer elastic driven mechanism and four flexure hinges. The kinematics model and Jacobian matrix is derived. Dexterity and workspace as two of the most important performance indices are investigated and visualized. Finite element analysis is conducted to observe the various behaviours including deformation, strain and frequency response under different inputs of piezo actuators. Both of the single objective optimization and multi-objective optimization are implemented to seek the optimal performance with the adjustment of dimensional parameters.

AB - This paper presents a novel three degrees of freedom parallel manipulator based on flexure structure. There are three limbs connected with a moving stage and a fixed platform. Each limb is configured with a multilayer elastic driven mechanism and four flexure hinges. The kinematics model and Jacobian matrix is derived. Dexterity and workspace as two of the most important performance indices are investigated and visualized. Finite element analysis is conducted to observe the various behaviours including deformation, strain and frequency response under different inputs of piezo actuators. Both of the single objective optimization and multi-objective optimization are implemented to seek the optimal performance with the adjustment of dimensional parameters.

KW - evolutionary algorithm

KW - multi-objective optimization

KW - Parallel manipulator

KW - performances indices

UR - http://www.scopus.com/inward/record.url?scp=84906550112&partnerID=8YFLogxK

U2 - 10.1109/ICCA.2014.6870930

DO - 10.1109/ICCA.2014.6870930

M3 - Conference article published in proceeding or book

AN - SCOPUS:84906550112

SN - 9781479928378

T3 - IEEE International Conference on Control and Automation, ICCA

SP - 261

EP - 266

BT - 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014

PB - IEEE Computer Society

T2 - 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014

Y2 - 18 June 2014 through 20 June 2014

ER -

Conceptual design, performance visualization and dimension improvement of a flexure parallel manipulator

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

More information

Other files and links

Fingerprint

Cite this