Design, development and analysis of a haptic-enabled modular flexure-based manipulator

Joshua Benjamin Pinskier; Bijan Shirinzadeh; Umesh Krishna Bhagat; Leon Scott Clark; Yanding Qin

doi:10.1109/3M-NANO.2015.7425470

Design, development and analysis of a haptic-enabled modular flexure-based manipulator

Joshua Benjamin Pinskier, Bijan Shirinzadeh, Umesh Krishna Bhagat, Leon Scott Clark, Yanding Qin

Mechanical & Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other › peer-review

6 Citations (Scopus)

Abstract

The design, computational analysis, and experimental study of a modular flexure-based micro/nano manipulator is presented. The system combines a novel, compact, modular flexure-based mechanism with a haptic device, and a bilateral control architecture to enable rapid haptically-guided micromanipulation tasks. In principle the modular design allows manipulators to be constructed according to task-specific requirements. These mechanisms are designed for minimal mass, to maximize the transient response time of the system. Theoretical modelling and computational analysis of the one degree of freedom (DOF) flexure-based mechanism is performed. Modal analysis, mode shapes, maximum stresses generated within the mechanism and the maximum workspace of the mechanism are investigated. The modular mechanism has a measured range of translational motion of approximately 38.9µm in one DOF, with the capability to be grouped together to create two or three DOF of motion. The first natural frequency of the prototype mechanism is measured at 417Hz, indicating a response time rapid enough to be undetectable to a human user. An experimental research facility is established as a proof of concept. The teleoperated control scheme is shown to track ccuracy of approximately 104nm, in a stable and transparent manner.

Original language	English
Title of host publication	2015 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)
Editors	Li Zhang
Place of Publication	Piscataway NJ USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	49 - 54
Number of pages	6
ISBN (Print)	9781467396257
DOIs	https://doi.org/10.1109/3M-NANO.2015.7425470
Publication status	Published - 2015
Event	International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (M-NANO) 2015 - Songyuan Hotel, Changchun, China Duration: 5 Oct 2015 → 9 Oct 2015 Conference number: 5th http://www.3m-nano.org/2015/main/index.asp

Conference

Conference	International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (M-NANO) 2015
Abbreviated title	3M-NANO 2015
Country/Territory	China
City	Changchun
Period	5/10/15 → 9/10/15
Internet address	http://www.3m-nano.org/2015/main/index.asp

Access to Document

10.1109/3M-NANO.2015.7425470

6 Citations
1 Article

Design, development and analysis of a haptic-enabled modular flexure-based manipulator
Pinskier, J., Shirinzadeh, B., Clark, L., Qin, Y. & Fatikow, S., 1 Dec 2016, In: Mechatronics. 40, p. 156-166 11 p.
Research output: Contribution to journal › Article › Research › peer-review

38 Citations (Scopus)

Cite this

Pinskier, J. B., Shirinzadeh, B., Bhagat, U. K., Clark, L. S., & Qin, Y. (2015). Design, development and analysis of a haptic-enabled modular flexure-based manipulator. In L. Zhang (Ed.), 2015 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO) (pp. 49 - 54). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/3M-NANO.2015.7425470

Pinskier, Joshua Benjamin ; Shirinzadeh, Bijan ; Bhagat, Umesh Krishna et al. / Design, development and analysis of a haptic-enabled modular flexure-based manipulator. 2015 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO). editor / Li Zhang. Piscataway NJ USA : IEEE, Institute of Electrical and Electronics Engineers, 2015. pp. 49 - 54

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title = "Design, development and analysis of a haptic-enabled modular flexure-based manipulator",

abstract = "The design, computational analysis, and experimental study of a modular flexure-based micro/nano manipulator is presented. The system combines a novel, compact, modular flexure-based mechanism with a haptic device, and a bilateral control architecture to enable rapid haptically-guided micromanipulation tasks. In principle the modular design allows manipulators to be constructed according to task-specific requirements. These mechanisms are designed for minimal mass, to maximize the transient response time of the system. Theoretical modelling and computational analysis of the one degree of freedom (DOF) flexure-based mechanism is performed. Modal analysis, mode shapes, maximum stresses generated within the mechanism and the maximum workspace of the mechanism are investigated. The modular mechanism has a measured range of translational motion of approximately 38.9µm in one DOF, with the capability to be grouped together to create two or three DOF of motion. The first natural frequency of the prototype mechanism is measured at 417Hz, indicating a response time rapid enough to be undetectable to a human user. An experimental research facility is established as a proof of concept. The teleoperated control scheme is shown to track ccuracy of approximately 104nm, in a stable and transparent manner.",

author = "Pinskier, {Joshua Benjamin} and Bijan Shirinzadeh and Bhagat, {Umesh Krishna} and Clark, {Leon Scott} and Yanding Qin",

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note = "International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (M-NANO) 2015, 3M-NANO 2015 ; Conference date: 05-10-2015 Through 09-10-2015",

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Pinskier, JB, Shirinzadeh, B, Bhagat, UK, Clark, LS & Qin, Y 2015, Design, development and analysis of a haptic-enabled modular flexure-based manipulator. in L Zhang (ed.), 2015 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO). IEEE, Institute of Electrical and Electronics Engineers, Piscataway NJ USA, pp. 49 - 54, International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (M-NANO) 2015, Changchun, China, 5/10/15. https://doi.org/10.1109/3M-NANO.2015.7425470

Design, development and analysis of a haptic-enabled modular flexure-based manipulator. / Pinskier, Joshua Benjamin; Shirinzadeh, Bijan; Bhagat, Umesh Krishna et al.
2015 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO). ed. / Li Zhang. Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers, 2015. p. 49 - 54.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other › peer-review

TY - GEN

T1 - Design, development and analysis of a haptic-enabled modular flexure-based manipulator

AU - Pinskier, Joshua Benjamin

AU - Shirinzadeh, Bijan

AU - Bhagat, Umesh Krishna

AU - Clark, Leon Scott

AU - Qin, Yanding

N1 - Conference code: 5th

PY - 2015

Y1 - 2015

N2 - The design, computational analysis, and experimental study of a modular flexure-based micro/nano manipulator is presented. The system combines a novel, compact, modular flexure-based mechanism with a haptic device, and a bilateral control architecture to enable rapid haptically-guided micromanipulation tasks. In principle the modular design allows manipulators to be constructed according to task-specific requirements. These mechanisms are designed for minimal mass, to maximize the transient response time of the system. Theoretical modelling and computational analysis of the one degree of freedom (DOF) flexure-based mechanism is performed. Modal analysis, mode shapes, maximum stresses generated within the mechanism and the maximum workspace of the mechanism are investigated. The modular mechanism has a measured range of translational motion of approximately 38.9µm in one DOF, with the capability to be grouped together to create two or three DOF of motion. The first natural frequency of the prototype mechanism is measured at 417Hz, indicating a response time rapid enough to be undetectable to a human user. An experimental research facility is established as a proof of concept. The teleoperated control scheme is shown to track ccuracy of approximately 104nm, in a stable and transparent manner.

AB - The design, computational analysis, and experimental study of a modular flexure-based micro/nano manipulator is presented. The system combines a novel, compact, modular flexure-based mechanism with a haptic device, and a bilateral control architecture to enable rapid haptically-guided micromanipulation tasks. In principle the modular design allows manipulators to be constructed according to task-specific requirements. These mechanisms are designed for minimal mass, to maximize the transient response time of the system. Theoretical modelling and computational analysis of the one degree of freedom (DOF) flexure-based mechanism is performed. Modal analysis, mode shapes, maximum stresses generated within the mechanism and the maximum workspace of the mechanism are investigated. The modular mechanism has a measured range of translational motion of approximately 38.9µm in one DOF, with the capability to be grouped together to create two or three DOF of motion. The first natural frequency of the prototype mechanism is measured at 417Hz, indicating a response time rapid enough to be undetectable to a human user. An experimental research facility is established as a proof of concept. The teleoperated control scheme is shown to track ccuracy of approximately 104nm, in a stable and transparent manner.

U2 - 10.1109/3M-NANO.2015.7425470

DO - 10.1109/3M-NANO.2015.7425470

M3 - Conference Paper

SN - 9781467396257

SP - 49

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BT - 2015 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

A2 - Zhang, Li

PB - IEEE, Institute of Electrical and Electronics Engineers

CY - Piscataway NJ USA

T2 - International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (M-NANO) 2015

Y2 - 5 October 2015 through 9 October 2015

ER -

Pinskier JB, Shirinzadeh B, Bhagat UK, Clark LS, Qin Y. Design, development and analysis of a haptic-enabled modular flexure-based manipulator. In Zhang L, editor, 2015 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO). Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers. 2015. p. 49 - 54 doi: 10.1109/3M-NANO.2015.7425470