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http://hdl.handle.net/10397/87637
Title: | An investigation on kinematics and dynamics performance of a novel 3-PRC-compliant parallel micromanipulator | Authors: | Li, XC Li, YM Ding, BX Xu, HY |
Issue Date: | 2018 | Source: | Advances in mechanical engineering, 1 July 2018, v. 10, no. 7, p. 1-9 | Abstract: | This article proposes a 3-PRC compliant parallel micromanipulator with 3 degrees of freedom. The piezoelectric actuator is adopted to drive the mechanism, and to compensate the stroke of the piezoelectric actuator, a new type of secondary lever amplification mechanism is designed. The kinematics model of the 3-PRC parallel micromanipulation platform is derived using vector method, and the forward and inverse kinematics solutions of a 3-PRC parallel micromanipulation stage are emphatically analyzed and then the jacobian matrix of kinematics model and workspace are derived. Finally, the dynamic model is established by Lagrange equation, and the natural frequency of the mechanism is calculated. The modal analysis is carried out using finite element method. The results showed that the mechanism has a favorable performance on kinematics and dynamics, and this micromanipulator can achieve micro/nano level motion with high accuracy. | Keywords: | 3-PRC Secondary lever amplifier Kinematics Dynamics |
Publisher: | SAGE Publications | Journal: | Advances in mechanical engineering | ISSN: | 1687-8132 | EISSN: | 1687-8140 | DOI: | 10.1177/1687814018789800 | Rights: | © The Author(s) 2018 Creative Commons CC BY: This article is distributed under the terms of the Creative Commons Attribution 4.0 License (http://www.creativecommons.org/licenses/by/4.0/) which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages (https://us.sagepub.com/en-us/nam/open-access-at-sage). The following publication Li, X.-C., Li, Y., Ding, B.-X., & Xu, H.-Y. (2018). An investigation on kinematics and dynamics performance of a novel 3-PRC-compliant parallel micromanipulator. Advances in Mechanical Engineering, 10(7), 1-9 is available at https://dx.doi.org/10.1177/1687814018789800 |
Appears in Collections: | Journal/Magazine Article |
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Li_Kinematics_Dynamics_3-prc-compliant.pdf | 1.55 MB | Adobe PDF | View/Open |
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