Performance analysis and optimization of a novel large displacement 3-DOF parallel manipulator

Yuan Yun, Yangmin Li

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

3 Citations (Scopus)


In recent years, nanotechnology has been developing rapidly due to its potential applications in various fields that new materials and products are produced. In this paper, a novel macro/micro 3-DOF parallel platform is proposed for micro positioning application. The kinematics model of the dual parallel mechanism system is established via the stiffness model of individual wide-range flexure hinge and vector-loop equation. The inverse solution and parasitic rotation of moving platform is analyzed and simulated on a parallel mechanism with real parameters. Whereafter, the reachable and usable workspace of the macro motion and micro motion of the mechanism are plotted and analyzed. Finally, based on the analysis of parasitic rotation, usable workspace of macro and micro motion, an optimization of the parallel manipulator is presented. The investigations of this paper will provide suggestions to improve the structure and control algorithm optimization for the dual parallel mechanism in order to achieve the features of both larger workspace and higher motion precision.
Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
Number of pages6
Publication statusPublished - 1 Dec 2008
Externally publishedYes
Event2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok, Thailand
Duration: 21 Feb 200926 Feb 2009


Conference2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008


  • Flexure hinge
  • Optimization design
  • Parallel mechanism
  • Parasitic rotation

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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