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

Daniel Prusak; Tadeusz Uhl

doi:10.4028/www.scientific.net/SSP.147-149.19

Paper Titles

A Low-Cost Hexa Platform for Efficient Force Control Systems Using Industrial Manipulators
p.1

Hardware Structure of a Control Section of Manipulation Mechanism for Acoustical Measurement in Anechoic Chamber
p.7

Structure Synthesis and Mechanical Parameters Choice for a Manipulating Mechanism for Acoustical Measurements in Anechoic Chamber
p.13

Novel Type of Hybrid 3-DOF Micromanipulator with Piezoelectric Actuators – Mechanical Construction and Simulations
p.19

Web-Based Synthesis of Robot Structures for Micro and Nano Manipulations
p.25

Control Algorithm for Four-Wheeled Robot Motionfor Monit oring Problems
p.31

Control Algorithms for the Mobile Robot “MAX” on a Task of Line Following Provided by Intelligent Image Processing
p.35

Control System for an All-Terrain Mobile Robot
p.43

Design of In-Pipe Modular Robotic Systems
p.49

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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.