Design of a novel parallel monolithic 3-DOF compliant micromanipulator

Mohammadali Ghafarian, Bijan Shirinzadeh, Ammar Al-Jodah, Tilok Kumar Das, Weichen Wei, Yanling Tian, Dawei Zhang

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

7 Citations (Scopus)

Abstract

A three degrees of freedom (DOF) monolithic compliant parallel micromanipulator is presented. The research aim is to design a monolithic mechanism with capability of working in three translational axes and having high resonant frequency. A finite element analysis (FEA) model is developed to perform analysis and predict the behaviour of the mechanism, and thus establish the computational Jacobian, workspace and amplification ratio. Finally, the stress-strain relationship of the mechanism is investigated by applying safety factor and the results are presented.

Original languageEnglish
Title of host publicationMARSS 2019 - International Conference on Manipulation, Automation, and Robotics at Small Scales
EditorsSinan Haliyo, Albert Sill, Quan Zhou, Pasi Kallio, Sergej Fatikow
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1-6
Number of pages6
ISBN (Electronic)9781728109473
DOIs
Publication statusPublished - 7 Oct 2019
EventInternational Conference on Manipulation, Automation and Robotics at Small Scales 2019 - Helsinki, Finland
Duration: 1 Jul 20195 Jul 2019
Conference number: 4th

Publication series

NameMARSS 2019 - International Conference on Manipulation, Automation, and Robotics at Small Scales

Conference

ConferenceInternational Conference on Manipulation, Automation and Robotics at Small Scales 2019
Abbreviated titleMARSS 2019
Country/TerritoryFinland
CityHelsinki
Period1/07/195/07/19

Keywords

  • Compliant parallel micromanipulator
  • Monolithic structure
  • Three Prismatic-Universal-Universal (PUU) flexure-based micromanipulator
  • Three translational DOF

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