Dynamics analysis of a modified 3-PRC compliant parallel micromanipulator

Yangmin Li, Qingsong Xu

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

8 Citations (Scopus)


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 languageEnglish
Title of host publication2007 7th IEEE International Conference on Nanotechnology - IEEE-NANO 2007, Proceedings
Number of pages6
Publication statusPublished - 1 Dec 2007
Externally publishedYes
Event2007 7th IEEE International Conference on Nanotechnology - IEEE-NANO 2007 - Hong Kong, Hong Kong
Duration: 2 Aug 20075 Aug 2007


Conference2007 7th IEEE International Conference on Nanotechnology - IEEE-NANO 2007
Country/TerritoryHong Kong
CityHong Kong


  • Design theory
  • Dynamics
  • Flexure hinges
  • Parallel manipulators

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Atomic and Molecular Physics, and Optics

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