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3-DOF Parallel Micromanipulator : Design Consideration  

Lee, Jeong-Ick (인하공업전문대학 기계시스템공학부 기계설계과)
Lee, Dong-Chan (한양대학교 기계공학과 대학원)
Han, Chang-Soo (한양대학교 기계공학과)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.17, no.2, 2008 , pp. 13-22 More about this Journal
Abstract
For the accuracy correction of the micro-positioning industrial robot, micro-manipulator has been devised. The compliant mechanisms using piezoelectric actuators is necessary geometrically and structurally to be developed by the optimization approaches. The overall geometric advantage as the mechanical efficiencies of the mechanism are considered as objective functions, which respectively art the ratio of output displacement to input force, and their constraints are the vertical notion of supporting leg and the structural strength of manipulation. In optimizing the compliant mechanical amplifier, the sequential linear programming and an optimality criteria method are used for the geometrical dimensions of compliant bridges and flexure hinges. This paper presents the integrated design process which not only can maximize the mechanism feasibilities but also can ensure the positioning accuracy and sufficient workspace. Experiment and simulation are presented for validating the design process through the comparisons of the kinematical and structural performances.
Keywords
IC Micromanipulator; Kinematics and Compliance; Compliant Mechanical Amplifier; Compliant Bridge; Flexure Hinge; Shape Optimization;
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Times Cited By KSCI : 2  (Citation Analysis)
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