Title :
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
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;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2015 IEEE International Conference on
Conference_Location :
Busan
DOI :
10.1109/AIM.2015.7222576
