Dynamics analysis of a modified 3-PRC compliant parallel micromanipulator

Yangmin Li; Qingsong Xu

doi:10.1109/NANO.2007.4601226

Dynamics analysis of a modified 3-PRC compliant parallel micromanipulator

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

8 Citations (Scopus)

Abstract

The dynamics of a 3-PRC (three-prismatic-revolute-cylindrical) compliant parallel micromanipulator (CPM) is investigated in this paper, which is quite necessary once the high frequency control is concerned. By expressing both potential and kinetic energies of the CPM with the chosen generalized coordinates, the dynamic equation is established through the Lagrangian approach. And the dynamic model is validated by the finite element analysis performed in ANSYS software, where the modal analysis is carried out with the mode shapes and natural frequencies extracted. Moreover, as a further utility of the derived model, the variation tendency of the natural frequency versus the design parameters are obtained as well. The generated results are valuable for both the design and control of a 3-PRC CPM for micro/nano scale manipulation.

Original language	English
Title of host publication	2007 7th IEEE International Conference on Nanotechnology - IEEE-NANO 2007, Proceedings
Pages	432-437
Number of pages	6
DOIs	https://doi.org/10.1109/NANO.2007.4601226
Publication status	Published - 1 Dec 2007
Externally published	Yes
Event	2007 7th IEEE International Conference on Nanotechnology - IEEE-NANO 2007 - Hong Kong, Hong Kong Duration: 2 Aug 2007 → 5 Aug 2007

Conference

Conference	2007 7th IEEE International Conference on Nanotechnology - IEEE-NANO 2007
Country/Territory	Hong Kong
City	Hong Kong
Period	2/08/07 → 5/08/07

Keywords

Design theory
Dynamics
Flexure hinges
Parallel manipulators

ASJC Scopus subject areas

Electrical and Electronic Engineering
Atomic and Molecular Physics, and Optics

More information

10.1109/NANO.2007.4601226

Cite this

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abstract = "The dynamics of a 3-PRC (three-prismatic-revolute-cylindrical) compliant parallel micromanipulator (CPM) is investigated in this paper, which is quite necessary once the high frequency control is concerned. By expressing both potential and kinetic energies of the CPM with the chosen generalized coordinates, the dynamic equation is established through the Lagrangian approach. And the dynamic model is validated by the finite element analysis performed in ANSYS software, where the modal analysis is carried out with the mode shapes and natural frequencies extracted. Moreover, as a further utility of the derived model, the variation tendency of the natural frequency versus the design parameters are obtained as well. The generated results are valuable for both the design and control of a 3-PRC CPM for micro/nano scale manipulation.",

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AB - The dynamics of a 3-PRC (three-prismatic-revolute-cylindrical) compliant parallel micromanipulator (CPM) is investigated in this paper, which is quite necessary once the high frequency control is concerned. By expressing both potential and kinetic energies of the CPM with the chosen generalized coordinates, the dynamic equation is established through the Lagrangian approach. And the dynamic model is validated by the finite element analysis performed in ANSYS software, where the modal analysis is carried out with the mode shapes and natural frequencies extracted. Moreover, as a further utility of the derived model, the variation tendency of the natural frequency versus the design parameters are obtained as well. The generated results are valuable for both the design and control of a 3-PRC CPM for micro/nano scale manipulation.

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Dynamics analysis of a modified 3-PRC compliant parallel micromanipulator

Abstract

Conference

Keywords

ASJC Scopus subject areas

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