Abstract
A new two-degrees-of-freedom (2-DOF) compliant parallel micromanipulator (CPM) utilizing flexure joints has been proposed for two-dimensional (2-D) nanomanlpulatlon In this paper. The system Is developed by a careful design and proper selection of electrical and mechanical components. Based upon the developed PRB model, both the position and velocity kinematic modelings have been performed In details, and the CPM's workspace area Is determined analytically In view of the physical constraints Imposed by plzeo-actuators and flexure hinges. Moreover, In order to achieve a maximum workspace subjected to the given dexterity Indices, kinematic optimization of the design parameters has been carried out, which leads to a manipulator satisfying the requirement of this work. Simulation results reveal that the designed CPM can perform a high dexterous manipulation within Its workspace.
Original language | English |
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Title of host publication | Proceedings of the 2005 IEEE Conference on Automation Science and Engineering, IEEE-CASE 2005 |
Pages | 118-123 |
Number of pages | 6 |
Volume | 2005 |
DOIs | |
Publication status | Published - 1 Dec 2005 |
Externally published | Yes |
Event | 2005 IEEE Conference on Automation Science and Engineering, IEEE-CASE 2005 - Edmonton, Canada Duration: 1 Aug 2005 → 2 Aug 2005 |
Conference
Conference | 2005 IEEE Conference on Automation Science and Engineering, IEEE-CASE 2005 |
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Country/Territory | Canada |
City | Edmonton |
Period | 1/08/05 → 2/08/05 |
Keywords
- Compliant mechanisms
- Kinematic optimization
- Nanomanlpulatlon
- Parallel manipulators
ASJC Scopus subject areas
- General Engineering