Design of a 6-DOF compliant manipulator based on serial-parallel architecture

Author

Daihong, Chao ; Guanghua, Zong ; Rong, Liu

Author_Institution

Robotics Inst., Beihang Univ., Beijing

fYear

2005

fDate

24-28 July 2005

Firstpage

765

Lastpage

770

Abstract

A novel dexterous 6DOF manipulator serially connected by two compliant parallel stages is presented in this paper. The upper stage is a 3-RPS mechanism and the lower one is a 3-RRR mechanism. In virtue of the method of the physical model of the solution space, optimal design of the lower stage has been accomplished. Then, the calibration of the lower stage is undergoing by means of an ultra-precision vision system. The experiment shows that the lower stage possesses workspace of 120 mum times 130 mum times 18mrad with the resolution of 50 nm, 50 nm, 18 arcsec, respectively. This manipulator is to be used as a fiber optics aligner

Keywords

dexterous manipulators; industrial manipulators; robot vision; 120 mum; 130 mum; 3RPS mechanism; 3RRR mechanism; 6DOF compliant manipulator; compliant parallel stages; manipulator design; micropositioning; nanopositioning; physical model; serial-parallel architecture; stage calibration; ultra-precision vision system; Atomic force microscopy; Calibration; Chaos; Fasteners; Friction; Machine vision; Micromechanical devices; Optical fibers; Phase change materials; Space technology;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-9047-4

Type

conf

DOI

10.1109/AIM.2005.1511075

Filename

1511075