A three-degrees-of-freedom micromotion in-parallel actuated manipulator

Author

Lee, Kok-Meng ; Arjunan, Shankar

Author_Institution

George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA

Volume

7

Issue

5

fYear

1991

fDate

10/1/1991 12:00:00 AM

Firstpage

634

Lastpage

641

Abstract

The development of a three-degree-of-freedom (DOF) micromotion in-parallel actuated manipulator is discussed. The micromotion manipulator, which has one translation and two orientation freedoms, is actuated by piezoelectric effect. A closed-form solution and an experimental verification of the forward kinematics are presented. In addition, the dynamic model of the piezoelectric actuated link was determined experimentally, providing a rational basis for the design and prismatic joint force control of the high-speed micromotion manipulator. A special configuration that approaches an optimal design, in terms of working range, rigidity, and bandwidth, is highlighted

Keywords

control system synthesis; electric actuators; force control; kinematics; piezoelectric devices; robots; design; dynamic model; forward kinematics; micromotion in-parallel actuated manipulator; piezoelectric actuated link; prismatic joint force control; robots; three degree of freedom; Bandwidth; Closed-form solution; Force control; Kinematics; Magnetic levitation; Manipulator dynamics; Piezoelectric actuators; Piezoelectric effect; Robot sensing systems; Service robots;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.97875

Filename

97875