Paper Title:
Novel Type of Hybrid 3-DOF Micromanipulator with Piezoelectric Actuators – Mechanical Construction and Simulations
  Abstract

The paper reports on the main assumptions and guidelines regarding construction of a novel type of parallel micro-robot with 3 degrees of freedom. Such micromanipulator is a hybrid construction, consisting of three arms connected together in parallel structure. The mechanical construction is a combination of rotational joints with bearings and flexible compliant joints so called: flexures. The whole construction measures several cubic centimeters and operates within c.a. 4 cubic centimeters workspace. In addition, the article relates to selected aspects of the control system, mathematical analysis of kinematics, basic simulations, specification of the range of movement of all actuators, and workspace of the moving platform. Modeling flexures using FE method will also be presented.

  Info
Periodical
Solid State Phenomena (Volumes 147-149)
Edited by
Zdzislaw Gosiewski and Zbigniew Kulesza
Pages
19-24
DOI
10.4028/www.scientific.net/SSP.147-149.19
Citation
D. Prusak, T. Uhl, "Novel Type of Hybrid 3-DOF Micromanipulator with Piezoelectric Actuators – Mechanical Construction and Simulations", Solid State Phenomena, Vols. 147-149, pp. 19-24, 2009
Online since
January 2009
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Price
$32.00
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