Statics and dynamics performance evaluation for a high precision XYZ compliant parallel micromanipulator

Qingsong Xu; Yangmin Li

doi:10.1109/ROBIO.2007.4522136

Statics and dynamics performance evaluation for a high precision XYZ compliant parallel micromanipulator

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

4 Citations (Scopus)

Abstract

The performance evaluation on a newly designed XYZ compliant parallel micromanipulator (CPM) in terms of statics and dynamics is carried out in this paper, which is quite necessary in designing the CPM considering the stiffness and natural frequency requirements. By investigating the elastic deformations in each flexure hinge, the stiffness model in the working directions of the CPM is established. In addition, by expressing both potential and kinetic energies of the CPM with the chosen generalized coordinates, the dynamic equation is derived via the Lagrangian approach. Through the finite element analysis performed in ANSYS software package, not only the stiffness model is tested by the nonlinear statics analysis, but also the dynamic model is verified based on the conducted modal analysis. The simulation results validate the effectiveness and efficiency of the obtained analytical models. And the presented results are meaningful for both the design and development of a CPM for micro/nano scale manipulation.

Original language	English
Title of host publication	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Publisher	IEEE Computer Society
Pages	65-70
Number of pages	6
ISBN (Print)	9781424417582
DOIs	https://doi.org/10.1109/ROBIO.2007.4522136
Publication status	Published - 1 Jan 2007
Externally published	Yes
Event	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya, China Duration: 15 Dec 2007 → 18 Dec 2007

Conference

Conference	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Country/Territory	China
City	Yalong Bay, Sanya
Period	15/12/07 → 18/12/07

Keywords

Dynamics
Finite element analysis
Micro-manipulators
Parallel mechanisms
Statics

ASJC Scopus subject areas

Artificial Intelligence
Control and Systems Engineering
Biomaterials

More information

10.1109/ROBIO.2007.4522136

Cite this

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abstract = "The performance evaluation on a newly designed XYZ compliant parallel micromanipulator (CPM) in terms of statics and dynamics is carried out in this paper, which is quite necessary in designing the CPM considering the stiffness and natural frequency requirements. By investigating the elastic deformations in each flexure hinge, the stiffness model in the working directions of the CPM is established. In addition, by expressing both potential and kinetic energies of the CPM with the chosen generalized coordinates, the dynamic equation is derived via the Lagrangian approach. Through the finite element analysis performed in ANSYS software package, not only the stiffness model is tested by the nonlinear statics analysis, but also the dynamic model is verified based on the conducted modal analysis. The simulation results validate the effectiveness and efficiency of the obtained analytical models. And the presented results are meaningful for both the design and development of a CPM for micro/nano scale manipulation.",

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Xu, Q & Li, Y 2007, Statics and dynamics performance evaluation for a high precision XYZ compliant parallel micromanipulator. in 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO., 4522136, IEEE Computer Society, pp. 65-70, 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, Yalong Bay, Sanya, China, 15/12/07. https://doi.org/10.1109/ROBIO.2007.4522136

Statics and dynamics performance evaluation for a high precision XYZ compliant parallel micromanipulator. / Xu, Qingsong; Li, Yangmin.
2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. IEEE Computer Society, 2007. p. 65-70 4522136.

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

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AU - Li, Yangmin

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Statics and dynamics performance evaluation for a high precision XYZ compliant parallel micromanipulator

Abstract

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Keywords

ASJC Scopus subject areas

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