Stiffness modeling of a spatial 3-DOF compliant parallel micromanipulator

Qingsong Xu, Yangmin Li

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

6 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-revolute-cylindrical (3-PRC) CPM with orthogonally mounted actuators, that is designed to provide three spatial translational DOF for nano scale manipulation. A straightforward method is developed to establish the analytical stiffness model for a spatial CPM by considering the compliance of each compliant element, which is then applied to stiffness modeling of the 3-PRC CPM. Furthermore, the Unite element analysis is carried out to validate the developed model. And to demonstrate the utility of the stiffness model, the influence of architectural parameters on stiffness factors is analyzed, which is valuable for a cost-effective design of the CPM.
Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages300-305
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2006
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 9 Oct 200615 Oct 2006

Conference

Conference2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period9/10/0615/10/06

Keywords

  • Compilant mechanisms
  • Parallel manipulators
  • Stiffness

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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