Design and analysis of a novel 3-D micromanipulator with large range of motion

Author

Zhigang Wu ; Yangmin Li

Author_Institution

Fac. of Sci. & Technol., Univ. of Macau, Macao, China

fYear

2015

fDate

7-11 July 2015

Firstpage

459

Lastpage

464

Abstract

A novel parallel micromanipulator with large range of motion based on flexible hinges is designed and analyzed in this paper, which has three degrees of freedom motions along x, y and z axes. The Pseudo-Rigid-Body (PRB) model method is applied to obtain the kinetic performance and inputting stiffness. To calculate the natural frequency of the mechanism, the Lagrange method is used to achieve the dynamic and frequency equations. In addition, the working range of the architecture is also calculated, analyzed and compared with other similar structures by using ANSYS software, our designed micromanipulator has larger workspace than other existed stages.

Keywords

elasticity; manipulator kinematics; micromanipulators; motion control; 3-D micromanipulator; ANSYS software; Lagrange method; PRB; dynamic equations; flexible hinges; frequency equations; inputting stiffness; kinetic performance; motion range; parallel micromanipulator; pseudo-rigid-body model method; Computer architecture; Fasteners; Force; Kinetic energy; Mathematical model; Micromanipulators; Springs; Parallel micromanipulator; dynamics; large motion; pseudo rigid body;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2015 IEEE International Conference on

Conference_Location

Busan

Type

conf

DOI

10.1109/AIM.2015.7222576

Filename

7222576