Kinematic design of a novel 3-DOF compliant parallel manipulator for nanomanipulation

Yangmin Li, Qingsong Xu

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

15 Citations (Scopus)

Abstract

A new three-degree-of-freedom (3-DOF) compliant parallel manipulator (CFM) has been proposed for 3-D nanomanipulation in this paper. The system is constructed by a proper selection of components, and analyzed via the established pseudo-rigid-body model, based upon which the kinematic modelings are performed, and the CPM workspace is determined in view of the physical constraints. One of the advantages of the presented CPM is that it provides a regular like workspace with a maximum cuboid defined as usable workspace inscribed and one isotropic configuration involved. Moreover, the architecture design of the CPM to achieve a maximum usable workspace is carried out, and the dexterity performance is evaluated. Simulation results show that the compact CPM can perform a dexterous manipulation within the usable workspace.
Original languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Pages93-98
Number of pages6
Publication statusPublished - 16 Nov 2005
Externally publishedYes
EventProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States
Duration: 24 Jul 200528 Jul 2005

Conference

ConferenceProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
CountryUnited States
CityMonterey, CA
Period24/07/0528/07/05

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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