Title :
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
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;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100220
