Design of a new decoupled XY flexure parallel kinematic manipulator with actuator isolation

Yangmin Li, Qingsong Xu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

14 Citations (Scopus)

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 languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages470-475
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2008
Externally publishedYes
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: 22 Sep 200826 Sep 2008

Conference

Conference2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period22/09/0826/09/08

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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