Stiffness and Kinematic Analysis of a Novel Compliant Parallel Micromanipulator for Biomedical Manipulation

Xiao Xiao, Yangmin Li

Research output: Chapter in book / Conference proceedingChapter in an edited book (as author)Academic researchpeer-review


This chapter presents the stiffness and kinematic analysis of a novel compliant parallel micromanipulator. There are two types of the structure of the compliant mechanism: serial structure and parallel structure. Kinematics issue of parallel mechanism is related to the joint variables and position and orientation of the end-effector, which is the basis of many performance indexes. The matrix displacement method is utilized to formulate the stiffness model of the proposed novel parallel micromanipulator. An accurate kinematics model is beneficial for the performance evaluation. Moreover, it can be used for control purpose for the micromanipulator. The stiffness and kinematics models of the manipulator are derived based on the matrix displacement method. The manipulator is compact in size and large in stroke, which makes it suitable for biomedical manipulations in a limited space. The stiffness and kinematic analysis method is implemented on the proposed manipulator as an example.
Original languageEnglish
Title of host publicationMicro- and Nanomanipulation Tools
Number of pages20
ISBN (Electronic)9783527690237
ISBN (Print)9783527337842
Publication statusPublished - 25 Nov 2015
Externally publishedYes


  • Biomedical manipulation
  • Element stiffness matrix method
  • Kinematic analysis
  • Micromanipulator
  • Stiffness analysis

ASJC Scopus subject areas

  • General Engineering


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