A New XYZ Compliant Parallel Mechanism for Micro-/Nano-Manipulation: Design and Analysis
Based on the constraint and position identification (CPI) approach for synthesizing XYZ compliant parallel mechanisms (CPMs) and configuration modifications, this paper proposes a new fully-symmetrical XYZ CPM with desired motion characteristics such as reduced cross-axis coupling, minimized lost mo...
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| Format: | Article |
| Language: | English |
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MDPI AG
2016-02-01
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| Series: | Micromachines |
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| Online Access: | http://www.mdpi.com/2072-666X/7/2/23 |
| _version_ | 1818194051128623104 |
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| author | Haiyang Li Guangbo Hao Richard C. Kavanagh |
| author_facet | Haiyang Li Guangbo Hao Richard C. Kavanagh |
| author_sort | Haiyang Li |
| collection | DOAJ |
| description | Based on the constraint and position identification (CPI) approach for synthesizing XYZ compliant parallel mechanisms (CPMs) and configuration modifications, this paper proposes a new fully-symmetrical XYZ CPM with desired motion characteristics such as reduced cross-axis coupling, minimized lost motion, and relatively small parasitic motion. The good motion characteristics arise from not only its symmetric configuration, but also the rigid linkages between non-adjacent rigid stages. Comprehensive kinematic analysis is carried out based on a series of finite element simulations over a motion range per axis less than ±5% of the beam length, which reveals that the maximum cross-axis coupling rate is less than 0.86%, the maximum lost motion rate is less than 1.20%, the parasitic rotations of the motion stage (MS) are in the order of 10−5 rad, and the parasitic translations of the three actuated stages (ASs) are in the order of 10−4 of the beam length (less than 0.3% of the motion range), where the beam slenderness ratio is larger than 20. Furthermore, the nonlinear analytical models of the primary translations of the XYZ CPM, including the primary translations of the MS and the ASs, are derived and validated to provide a quick design synthesis. Moreover, two practical design schemes of the proposed XYZ CPM are discussed with consideration of the manufacturability. The practical designs enable the XYZ CPM to be employed in many applications such as micro-/nano-positioning, micro-/nano-manufacturing and micro-/nano-assembly. Finally, a spatial high-precision translational system is presented based on the practical design schemes, taking the actuator and sensor integration into account. |
| first_indexed | 2024-12-12T00:56:08Z |
| format | Article |
| id | doaj.art-18706e04c0ab4a44ba37d13e66f02176 |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-12-12T00:56:08Z |
| publishDate | 2016-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-18706e04c0ab4a44ba37d13e66f021762022-12-22T00:43:52ZengMDPI AGMicromachines2072-666X2016-02-01722310.3390/mi7020023mi7020023A New XYZ Compliant Parallel Mechanism for Micro-/Nano-Manipulation: Design and AnalysisHaiyang Li0Guangbo Hao1Richard C. Kavanagh2School of Engineering-Electrical and Electronic Engineering, University College Cork, Cork, IrelandSchool of Engineering-Electrical and Electronic Engineering, University College Cork, Cork, IrelandSchool of Engineering-Electrical and Electronic Engineering, University College Cork, Cork, IrelandBased on the constraint and position identification (CPI) approach for synthesizing XYZ compliant parallel mechanisms (CPMs) and configuration modifications, this paper proposes a new fully-symmetrical XYZ CPM with desired motion characteristics such as reduced cross-axis coupling, minimized lost motion, and relatively small parasitic motion. The good motion characteristics arise from not only its symmetric configuration, but also the rigid linkages between non-adjacent rigid stages. Comprehensive kinematic analysis is carried out based on a series of finite element simulations over a motion range per axis less than ±5% of the beam length, which reveals that the maximum cross-axis coupling rate is less than 0.86%, the maximum lost motion rate is less than 1.20%, the parasitic rotations of the motion stage (MS) are in the order of 10−5 rad, and the parasitic translations of the three actuated stages (ASs) are in the order of 10−4 of the beam length (less than 0.3% of the motion range), where the beam slenderness ratio is larger than 20. Furthermore, the nonlinear analytical models of the primary translations of the XYZ CPM, including the primary translations of the MS and the ASs, are derived and validated to provide a quick design synthesis. Moreover, two practical design schemes of the proposed XYZ CPM are discussed with consideration of the manufacturability. The practical designs enable the XYZ CPM to be employed in many applications such as micro-/nano-positioning, micro-/nano-manufacturing and micro-/nano-assembly. Finally, a spatial high-precision translational system is presented based on the practical design schemes, taking the actuator and sensor integration into account.http://www.mdpi.com/2072-666X/7/2/23compliant parallel mechanismmicro-/nano-manipulationconceptual designkinematic analysisanalytical modelingpractical design |
| spellingShingle | Haiyang Li Guangbo Hao Richard C. Kavanagh A New XYZ Compliant Parallel Mechanism for Micro-/Nano-Manipulation: Design and Analysis Micromachines compliant parallel mechanism micro-/nano-manipulation conceptual design kinematic analysis analytical modeling practical design |
| title | A New XYZ Compliant Parallel Mechanism for Micro-/Nano-Manipulation: Design and Analysis |
| title_full | A New XYZ Compliant Parallel Mechanism for Micro-/Nano-Manipulation: Design and Analysis |
| title_fullStr | A New XYZ Compliant Parallel Mechanism for Micro-/Nano-Manipulation: Design and Analysis |
| title_full_unstemmed | A New XYZ Compliant Parallel Mechanism for Micro-/Nano-Manipulation: Design and Analysis |
| title_short | A New XYZ Compliant Parallel Mechanism for Micro-/Nano-Manipulation: Design and Analysis |
| title_sort | new xyz compliant parallel mechanism for micro nano manipulation design and analysis |
| topic | compliant parallel mechanism micro-/nano-manipulation conceptual design kinematic analysis analytical modeling practical design |
| url | http://www.mdpi.com/2072-666X/7/2/23 |
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