A three degree of freedom micro-motion in-parallel actuated manipulator

Author

Lee, Kok-Meng ; Arjunan, Shankar

Author_Institution

Georgia Inst. of Technol., Atlanta, GA, USA

fYear

1989

Firstpage

1698

Abstract

The development is described of a three-degree-of-freedom (DOF) micro-motion in-parallel actuated manipulator, which has one translation and two orientation degrees of freedom. The micro-motion manipulation is achieved by piezoelectric effects, due to their fast response and high resolution. In particular, a closed-form solution and an experimental verification of the forward kinematics are given. In addition, the dynamic model of the piezoelectrically-actuated link was determined experimentally, providing rational basis for the design and prismatic-joint force control of the high-speed micro-motion manipulator. A special configuration which approaches an optimal design in terms of working range, rigidity, and bandwidth is highlighted

Keywords

force control; kinematics; piezoelectric devices; position control; robots; closed-form solution; forward kinematics; micro-motion in-parallel actuated manipulator; piezoelectric effects; piezoelectric transducers; piezoelectrically-actuated link; position control; prismatic-joint force control; robots; three degree of freedom; Bandwidth; Closed-form solution; Energy consumption; Engines; Force control; Integrated optics; Kinematics; Manipulator dynamics; Optical devices; Robotic assembly;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on

Conference_Location

Scottsdale, AZ

Print_ISBN

0-8186-1938-4

Type

conf

DOI

10.1109/ROBOT.1989.100220

Filename

100220