Novel design of a 3-PUU spatial compliant parallel micromanipulator for nanomanipulation

Yangmin Li, Qingsong Xu

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

7 Citations (Scopus)


According to the requirement of nanomanipulation, a new three-prismatic-universal-universal (3-PUU) spatial compliant parallel micromanipulator (CPM) utilizing flexure joints has been proposed in this paper. The system is configurated by a proper selection of hardware and analyzed based upon the established pseudo-rigid-body (PRB) model. The position and velocity kinematic modelings have been performed in details afterwards. In view of the physical constraints imposed by piezoelectric actuators and flexure hinges, the CPM's workspace range is determined analytically. Particularly, it is illustrated that the CPM possesses a fairly regular like workspace with a maximum cuboid defined as usable workspace inscribed and one isotropic configuration involved. Furthermore, the architecture design of the CPM with the goal of achieving a maximum usable workspace is carried out, and the dexterity performance over the workspace has been verified. Simulation results reveal that the compact CPM can perform a high dexterous manipulation within the usable workspace.
Original languageEnglish
Title of host publicationIEEE International Conference on Mechatronics and Automation, ICMA 2005
Number of pages6
Publication statusPublished - 17 Nov 2005
Externally publishedYes
EventIEEE International Conference on Mechatronics and Automation, ICMA 2005 - Niagara Falls, ON, Canada
Duration: 29 Jul 20051 Aug 2005


ConferenceIEEE International Conference on Mechatronics and Automation, ICMA 2005
CityNiagara Falls, ON


  • Compliant mechanisms
  • Kinematic design
  • Nanomanipulation
  • Parallel manipulators

ASJC Scopus subject areas

  • Engineering(all)

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