Stiffness and statics analysis of a compact 3-PRC parallel micromanipulator for micro/nano scale manipulation

Yangmin Li; Qingsong Xu

doi:10.1109/ROBIO.2007.4522135

Stiffness and statics analysis of a compact 3-PRC parallel micromanipulator for micro/nano scale manipulation

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

2 Citations (Scopus)

Abstract

The stiffness and statics models of an improved 3-PRC (three-prismatic- revolute-cylindrical) compact compliant parallel micromanipulator (CPM) are established in this paper, which are quite necessary in selecting actuators according to the output forces. By investigating the elastic deformations in each flexure hinge, the statics equations relating the actuator's forces to both the applied external forces and induced internal forces are obtained. And the stiffness model in the degree-of-freedom directions of the CPM is estimated as well. The established models have been validated via the finite element analysis performed with ANSYS software package. Furthermore, the variation tendencies of the stiffness with respect to the CPM architectural parameters have been obtained based upon the stiffness model. The presented results are valuable for both design and development of a new 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	59-64
Number of pages	6
ISBN (Print)	9781424417582
DOIs	https://doi.org/10.1109/ROBIO.2007.4522135
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

Flexure hinges
Micro motion
Parallel manipulators
Statics
Stiffness

ASJC Scopus subject areas

Artificial Intelligence
Control and Systems Engineering
Biomaterials

More information

10.1109/ROBIO.2007.4522135

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abstract = "The stiffness and statics models of an improved 3-PRC (three-prismatic- revolute-cylindrical) compact compliant parallel micromanipulator (CPM) are established in this paper, which are quite necessary in selecting actuators according to the output forces. By investigating the elastic deformations in each flexure hinge, the statics equations relating the actuator's forces to both the applied external forces and induced internal forces are obtained. And the stiffness model in the degree-of-freedom directions of the CPM is estimated as well. The established models have been validated via the finite element analysis performed with ANSYS software package. Furthermore, the variation tendencies of the stiffness with respect to the CPM architectural parameters have been obtained based upon the stiffness model. The presented results are valuable for both design and development of a new CPM for micro/nano scale manipulation.",

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Li, Y & Xu, Q 2007, Stiffness and statics analysis of a compact 3-PRC parallel micromanipulator for micro/nano scale manipulation. in 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO., 4522135, IEEE Computer Society, pp. 59-64, 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, Yalong Bay, Sanya, China, 15/12/07. https://doi.org/10.1109/ROBIO.2007.4522135

Stiffness and statics analysis of a compact 3-PRC parallel micromanipulator for micro/nano scale manipulation. / Li, Yangmin; Xu, Qingsong.
2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. IEEE Computer Society, 2007. p. 59-64 4522135.

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

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AB - The stiffness and statics models of an improved 3-PRC (three-prismatic- revolute-cylindrical) compact compliant parallel micromanipulator (CPM) are established in this paper, which are quite necessary in selecting actuators according to the output forces. By investigating the elastic deformations in each flexure hinge, the statics equations relating the actuator's forces to both the applied external forces and induced internal forces are obtained. And the stiffness model in the degree-of-freedom directions of the CPM is estimated as well. The established models have been validated via the finite element analysis performed with ANSYS software package. Furthermore, the variation tendencies of the stiffness with respect to the CPM architectural parameters have been obtained based upon the stiffness model. The presented results are valuable for both design and development of a new CPM for micro/nano scale manipulation.

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Stiffness and statics analysis of a compact 3-PRC parallel micromanipulator for micro/nano scale manipulation

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Keywords

ASJC Scopus subject areas

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