Abstract
The design procedure for a totally decoupled XY flexure parallel kinematic manipulator is presented in this paper. The designed XY stage is featured with flexure hinges and a relatively simple structure. The output decoupling is allowed by the employment of compound parallelogram flexure, and the input decoupling is implemented by actuation isolation which is enabled by the double compound parallelogram flexure with large transverse stiffness. An improved displacement amplifier is adopted to amplify the stroke of linear actuator and to simplify the stage architecture. Kinematic models of both the amplifier and the XY stage are conducted by resorting to compliance analysis based on matrix method, which are validated by finite element analysis performed with ANSYS. The presented results are helpful for the design of a new XY flexure parallel manipulator for micro/nano scale manipulation.
| Original language | English |
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| Title of host publication | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS |
| Pages | 470-475 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 1 Dec 2008 |
| Externally published | Yes |
| Event | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France Duration: 22 Sept 2008 → 26 Sept 2008 |
Conference
| Conference | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS |
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| Country/Territory | France |
| City | Nice |
| Period | 22/09/08 → 26/09/08 |
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Control and Systems Engineering
- Electrical and Electronic Engineering