A novel design of a 3-PRC translational compliant parallel micromanipulator for nanomanipulation

Authors:
Qingsong Xu;Yangmin Li
Affiliations:
Dept. of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tomás Pereira S. J., Taipa, Macao SAR (P. R. China);Dept. of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tomás Pereira S. J., Taipa, Macao SAR (P. R. China) - Corresponding author. E-mail: y ...
Venue:
Robotica
Year:
2006

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Abstract

A novel 3-DOF prismatic-revolute-cylindrical (PRC) translational compliant parallel micromanipulator (CPM) has been designed for 3-D nanomanipulation in this paper. The system is configured by a proper selection of hardware and analyzed via the established pseudo-rigid-body (PRB) model. The CPM workspace is determined taking into account the physical constraints imposed by piezoelectric actuators and flexure hinges.