Title :
Stiffness Modeling for an Orthogonal 3-PUU Compliant Parallel Micromanipulator
Author :
Xu, Qingsong ; Li, Yangmin
Author_Institution :
Dept. of Electromechanical Eng., Macau Univ., Taipa
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 3PUU 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
Keywords :
finite element analysis; micromanipulators; compliant mechanisms; finite element analysis; nanoscale manipulation; orthogonal three-prismatic-universal-universal compliant parallel micromanipulator; stiffness modeling; Actuators; Analytical models; Automation; Fasteners; Finite element methods; Kinematics; Manipulator dynamics; Mechatronics; Micromanipulators; Transmission line matrix methods; Compliant mechanisms; Parallel manipulators; Stiffness;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257464
