A Large-Displacement and Decoupled XYZ Flexure Parallel Mechanism for Micromanipulation

Author

Tang, Xueyan ; Chen, I-Ming

Author_Institution

Sch. of Mech. & Aerosp. Eng., Nanyang Technol. Univ.

fYear

2006

fDate

8-10 Oct. 2006

Firstpage

75

Lastpage

80

Abstract

This paper studies the low-mobility XYZ flexure parallel mechanisms (FPM)s with decoupled kinematics structure, and enumerates the possible structures with consideration of actuation, manufacturing and available joints. A 3-PPP structure with the three decoupled translational motions and a workspace of more than 1 mm times 1 mm times 1 mm is designed as an example. Dimension optimization based on pseudo-rigid-body model is conducted. The experiments verify design of the proposed decoupled and large-displacement ATZ-FPM

Keywords

flexible manipulators; micromanipulators; 3PPP structure; decoupled XYZ flexure parallel mechanism; dimension optimization; large-displacement parallel mechanism; low-mobility parallel mechanisms; micromanipulation; pseudo-rigid-body model; three decoupled translational motions; Aerospace engineering; Design optimization; Fasteners; Friction; Hydraulic actuators; Kinematics; Lubrication; Manufacturing automation; Piezoelectric actuators; Pulp manufacturing;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation Science and Engineering, 2006. CASE '06. IEEE International Conference on

Conference_Location

Shanghai

Print_ISBN

1-4244-0310-3

Electronic_ISBN

1-4244-0311-1

Type

conf

DOI

10.1109/COASE.2006.326858

Filename

4120324