Design and kinematics of a 3-DOF compliant triglide micromanipulator

Autor:	Cheruvu Siva Kumar, Suraj Kumar Mishra
Rok vydání:	2021
Předmět:	Computer Science::Robotics Mechanism (engineering) Correctness Control theory law Computer science Parallel manipulator Inverse Kinematics Micromanipulator Finite element method Displacement (vector) law.invention
Zdroj:	IOP Conference Series: Materials Science and Engineering. 1080:012016
ISSN:	1757-899X 1757-8981
Popis:	This paper proposes a novel 3-degrees of freedom (DOF) compliant parallel micromanipulator. The design of the mechanism is based on triglide parallel manipulator. The compliant version of the triglide is prepared by making use of flexure joints. Displacement amplifiers are incorporated in the design to increase range of motions. The pseudo-rigid-body modeling technique is then used to formulate and solve the inverse kinematic problem for the design. To check the correctness and accuracy of the analytical kinematic model FEA simulations are performed in Abaqus-6.14 environment. Simulation results reveal that the proposed micromanipulator can perform different motions very effectively. Additionally, it is found that results predicted by the analytical model conform very closely to the simulation outcomes. The errors are very low, and the motions involve negligible parasitic motions.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::84b6c9a9c0e67eeff04da15665907aa7 https://doi.org/10.1088/1757-899x/1080/1/012016 Zobrazit plný text záznamu