Design and analysis of a new 3-DOF compliant parallel positioning platform for nanomanipulation

Author

Li, Yangmin ; Xu, Qingsong

Author_Institution

Dept. of Electromech. Eng., Macau Univ., Macao, China

fYear

2005

fDate

11-15 July 2005

Firstpage

861

Abstract

A novel three degree-of-freedom (3-DOF) translational compliant parallel platform (CFP) has been proposed for nanomanipulation in this paper. The system is developed by a proper selection of hardwares, and analyzed via the established pseudo-rigid-body (PRB) model. In view of the physical constraints, the CPP´s workspace range is determined analytically, which illustrates that the CPP possesses a regular like workspace with one isotropic configuration involved. Furthermore, the architecture design of the CPP is carried out to achieve a large usable workspace, and the dexterity performance has been verified. Simulation results show that the compact CPP can perform high dexterous manipulation within the desired workspace.

Keywords

compliance control; design engineering; dexterous manipulators; industrial manipulators; nanotechnology; position control; 3-DOF compliant parallel positioning platform; dexterity performance; dexterous manipulation; nanomanipulation; pseudo-rigid-body model; Adhesives; Atomic force microscopy; Fasteners; Force feedback; Hardware; Kinematics; Manufacturing; Nanoscale devices; Nanotechnology; Research and development;

fLanguage

English

Publisher

ieee

Conference_Titel

Nanotechnology, 2005. 5th IEEE Conference on

Print_ISBN

0-7803-9199-3

Type

conf

DOI

10.1109/NANO.2005.1500669

Filename

1500669