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

Yangmin Li, Qingsong Xu

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

2 Citations (Scopus)


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 languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
PublisherIEEE Computer Society
Number of pages6
ISBN (Print)9781424417582
Publication statusPublished - 1 Jan 2007
Externally publishedYes
Event2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya, China
Duration: 15 Dec 200718 Dec 2007


Conference2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
CityYalong Bay, Sanya


  • Flexure hinges
  • Micro motion
  • Parallel manipulators
  • Statics
  • Stiffness

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Biomaterials

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