Optimal design of a novel 2-DOF compliant parallel micromanipulator for nanomanipulation

Yangmin Li, Qingsong Xu

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

5 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of the 2005 IEEE Conference on Automation Science and Engineering, IEEE-CASE 2005
Pages118-123
Number of pages6
Volume2005
DOIs
Publication statusPublished - 1 Dec 2005
Externally publishedYes
Event2005 IEEE Conference on Automation Science and Engineering, IEEE-CASE 2005 - Edmonton, Canada
Duration: 1 Aug 20052 Aug 2005

Conference

Conference2005 IEEE Conference on Automation Science and Engineering, IEEE-CASE 2005
CountryCanada
CityEdmonton
Period1/08/052/08/05

Keywords

  • Compliant mechanisms
  • Kinematic optimization
  • Nanomanlpulatlon
  • Parallel manipulators

ASJC Scopus subject areas

  • Engineering(all)

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