Optimal design of a 3-DOF parallel micromanipulator

Dan Zhang; Zhen Gaob; Beizhi Lic

doi:10.1115/DETC2009-86259

Optimal design of a 3-DOF parallel micromanipulator

Dan Zhang, Zhen Gaob, Beizhi Lic

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

Abstract

A new compliant parallel micromanipulator is proposed in this paper. The manipulator has three degrees of freedom (DOF) and can generate motions in a microscopic scale. It can be used for biomedical engineering and fiber optics industry. In the paper, the detailed design of the structure is first introduced, followed by the kinematic analysis and performance evaluation. Second, a finite-element analysis of resultant stress, strain, and deformations is evaluated based upon different inputs of the three piezoelectric actuators. Finally, the genetic algorithms and radial basis function networks are implemented to search for the optimal architecture and behavior parameters in terms of global stiffness, dexterity and manipulability.

Original language	English
Title of host publication	Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Pages	815-826
Number of pages	12
Edition	PART B
DOIs	https://doi.org/10.1115/DETC2009-86259
Publication status	Published - 2010
Externally published	Yes
Event	2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009 - San Diego, CA, United States Duration: 30 Aug 2009 → 2 Sept 2009

Publication series

Name	Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Number	PART B
Volume	5

Conference

Conference	2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009
Country/Territory	United States
City	San Diego, CA
Period	30/08/09 → 2/09/09

Keywords

Compliant manipulator
Finite element method
Kinematic optimization
Parallel manipulator

ASJC Scopus subject areas

Computer Networks and Communications
Hardware and Architecture
Electrical and Electronic Engineering

More information

10.1115/DETC2009-86259

Cite this

Zhang, D., Gaob, Z., & Lic, B. (2010). Optimal design of a 3-DOF parallel micromanipulator. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009 (PART B ed., pp. 815-826). (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; Vol. 5, No. PART B). https://doi.org/10.1115/DETC2009-86259

Zhang, Dan ; Gaob, Zhen ; Lic, Beizhi. / Optimal design of a 3-DOF parallel micromanipulator. Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. PART B. ed. 2010. pp. 815-826 (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; PART B).

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abstract = "A new compliant parallel micromanipulator is proposed in this paper. The manipulator has three degrees of freedom (DOF) and can generate motions in a microscopic scale. It can be used for biomedical engineering and fiber optics industry. In the paper, the detailed design of the structure is first introduced, followed by the kinematic analysis and performance evaluation. Second, a finite-element analysis of resultant stress, strain, and deformations is evaluated based upon different inputs of the three piezoelectric actuators. Finally, the genetic algorithms and radial basis function networks are implemented to search for the optimal architecture and behavior parameters in terms of global stiffness, dexterity and manipulability.",

keywords = "Compliant manipulator, Finite element method, Kinematic optimization, Parallel manipulator",

author = "Dan Zhang and Zhen Gaob and Beizhi Lic",

year = "2010",

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booktitle = "Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009",

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Zhang, D, Gaob, Z & Lic, B 2010, Optimal design of a 3-DOF parallel micromanipulator. in Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. PART B edn, Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009, no. PART B, vol. 5, pp. 815-826, 2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009, San Diego, CA, United States, 30/08/09. https://doi.org/10.1115/DETC2009-86259

Optimal design of a 3-DOF parallel micromanipulator. / Zhang, Dan; Gaob, Zhen; Lic, Beizhi.
Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. PART B. ed. 2010. p. 815-826 (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; Vol. 5, No. PART B).

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

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Zhang D, Gaob Z, Lic B. Optimal design of a 3-DOF parallel micromanipulator. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. PART B ed. 2010. p. 815-826. (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; PART B). doi: 10.1115/DETC2009-86259

Optimal design of a 3-DOF parallel micromanipulator

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