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 language | English |
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| Title of host publication | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |
| Pages | 93-98 |
| Number of pages | 6 |
| Publication status | Published - 16 Nov 2005 |
| Externally published | Yes |
| Event | Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States Duration: 24 Jul 2005 → 28 Jul 2005 |
Conference
| Conference | Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 |
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| Country/Territory | United States |
| City | Monterey, CA |
| Period | 24/07/05 → 28/07/05 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Science Applications
- Electrical and Electronic Engineering