Stiffness modeling for an orthogonal 3-PUU compliant parallel micromanipulator

Qingsong Xu, Yangmin Li

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

13 Citations (Scopus)

Abstract

The stiffness modeling for a compliant parallel manipulator (CPM) is very important since it provides a basis for the characterization of static, modal, and dynamic behavior of the CPM. This paper presents the stiffness modeling of a three-prismatic-universal-universal (3-PUU) CPM with orthogonally mounted actuators, that is designed to provide three spatial translational DOF for nano-scale manipulation. Considering the compliance of each compliant element, the analytical stiffness model for a spatial CPM is established by a straightforward approach, which is then applied to stiffness modeling of the 3-PUU CPM. In addition, the finite element analysis is carried out to validate the developed model, and as a further application, the influence of architectural parameters on stiffness factors are derived based on the stiffness model, which is valuable for a cost-effective design of the CPM.
Original languageEnglish
Title of host publication2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Pages124-129
Number of pages6
Volume2006
DOIs
Publication statusPublished - 1 Dec 2006
Externally publishedYes
Event2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 - Luoyang, China
Duration: 25 Jun 200628 Jun 2006

Conference

Conference2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
CountryChina
CityLuoyang
Period25/06/0628/06/06

Keywords

  • Compliant mechanisms
  • Parallel manipulators
  • Stiffness

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software
  • Mechanical Engineering
  • Control and Systems Engineering

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