Design, analysis and simulation of a novel 3-DOF translational micromanipulator based on the PRB model

Yangmin Li, Zhigang Wu

Research output: Journal article publicationJournal articleAcademic researchpeer-review

43 Citations (Scopus)


A novel 3-DOF translational compliant mechanism based on flexure hinges is designed, analyzed and simulated in this paper. The mechanism is completely decoupled in XY directions, while there is a very small parasitic motion in Z direction when the XY axes are driven due to the lack of symmetry in Z direction. The pseudo-rigid-body model (PRBM) of the mechanism is established to analyze the relationship between the stiffness of the beam and the input displacement. Considering the flexible characteristics and displacement loss of mechanism, the displacement transformation efficiency from the input-end to the output-end is calculated firstly in the flexure-based micromanipulator field. To obtain the natural frequencies of the mechanism, the Hamilton's principle is successfully used to establish the dynamic model. The analytical results are validated by the finite element model, which indicate that the calculations and designs for the compliant mechanism are feasible. The maximal coupling error is only 1.82% when input displacement is maximal. The dynamic simulation using the backstepping dynamic surface control (BDSC) method is successfully applied in the compliant mechanism to obtain a good tracking performance, the tracking errors gradually decrease along with the input frequency reduction.
Original languageEnglish
Pages (from-to)235-258
Number of pages24
JournalMechanism and Machine Theory
Publication statusPublished - 1 Jun 2016
Externally publishedYes


  • Backstepping control
  • Design
  • Displacement loss
  • Dynamic analysis
  • Workspace

ASJC Scopus subject areas

  • Bioengineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications


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