Design and analysis of a novel 3-DOF large range micropositioning mechanism

Ammar Al-Jodah, Bijan Shirinzadeh, Mohammadali Ghafarian, Yanling Tian, Leon Clark

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

8 Citations (Scopus)


This paper proposes a novel 3-DOF monolithic XYθ micropositing mechanism. Unlike other 3-DOF designs, this mechanism is fully compliant. The mechanism consists of two parts: the platform mechanism and the driving mechanism. The platform mechanism is a 3PPR configuration mechanism based on leaf type flexures. The displacements of this configuration are more deterministic as compared to other configurations such as 3RRR and 3PRR. The driving mechanism consists of three driving arms equally spaced at 120°, and each of these arms is a single degree of freedom mechanism. A double four bar leaf linkage has been used in the driving arms to provide a translation in one degree of freedom only and to reject any other motions and rotations. The Voice Coil Motors (VCMs) has been used to drive the arms. VCMs have been embedded in the arms to have a compact 3-DOF mechanism. The mechanism offers a large workspace of ±1.97mm × ±1.706mm × ±34.8lmra. The forces required to drive the mechanism are well under the VCM maximum driving force.

Original languageEnglish
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Print)9781538618547
Publication statusPublished - 30 Aug 2018
EventIEEE/ASME International Conference on Advanced Intelligent Mechatronics 2018 - Auckland, New Zealand
Duration: 9 Jul 201812 Jul 2018 (Conference website)

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM


ConferenceIEEE/ASME International Conference on Advanced Intelligent Mechatronics 2018
Abbreviated titleAIM 2018
CountryNew Zealand
Internet address

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