Design and development of a multiple DOF compliant robot

Author

Tam, Michael C S ; Payandeh, Shahram ; Parameswaran, Ash M.

Author_Institution

Sch. of Eng. Sci., Simon Fraser Univ., Brunaby, BC

fYear

2005

fDate

18-20 July 2005

Firstpage

876

Lastpage

881

Abstract

Micromanipulators and micropositioners are becoming more and more popular in micro-machining, optics, and biomedical industry. They are used to manipulate movements of minute objects under the microscope. The objective of this paper is to explore and define possible applications of flexure joints. An investigation of some existing 2 degrees-of-freedom (DOF) flexure joint configurations. In literature is presented. Finally, a design of novel 2-DOF design will be presented with some discussions about the description of a possible 3-DOF manipulator. It is shown how these initial investigations can lead to the design and development of 6-DOF micro-manipulator system

Keywords

micromachining; micromanipulators; micropositioning; microrobots; multi-robot systems; 2 degrees-of-freedom flexure point configurations; 2-DOF design; 3-DOF manipulator; 6-DOF micro-manipulator system; flexure joints; micromanipulators; micropositioners; multiple DOF compliant robot; parallel mechanism; Biomedical optical imaging; Computer displays; End effectors; Intelligent robots; Micromachining; Microscopy; Microsurgery; Nanotechnology; Service robots; Surgery;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on

Conference_Location

Seattle, WA

Print_ISBN

0-7803-9178-0

Type

conf

DOI

10.1109/ICAR.2005.1507510

Filename

1507510