Development of a 4-DOF haptic micromanipulator utilizing a hybrid parallel-serial flexure mechanism

Pinskier, Joshua; Shirinzadeh, Bijan; Clark, Leon; Qin, Yanding

doi:10.1016/j.mechatronics.2018.01.007

Cited by 65 publications

(30 citation statements)

References 42 publications

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“…to handle very light loads. A typical example may be similar to that of carrying a measuring probe which weighs in the order of few grams or generally less than a kilogram [13].…”

Section: Design Inspirationmentioning

confidence: 99%

Investigation on adaptability of carbon fiber tube for serial manipulator

Kartikejan¹,

Sabarianand²,

Sugantan³

2019

FME Transactions

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This work describes the investigation on adapting the carbon fiber tube for building lightweight serial manipulator links. The carbon fiber is chosen based on its significant properties such as lightweight and superior mechanical strength, as an alternative to the existing conventional alloys such as steel and aluminium. A serial manipulator also suffers from a few disadvantages. A typical serial manipulator generally has a structure weight to payload ratio of approximately 200:1, which in turn drastically increases the power and torque requirements of the link actuators. So, there is a need to address this serious problem by investigating the lightweight construction for robot arm links through alternative designs. Such a design will significantly decrease the power requirements of the robot arm without compromising on stability. A comparative study has been done considering three different materials: steel, aluminium and carbon fiber using finite element analysis to check payload capability and stress concentrations.

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“…to handle very light loads. A typical example may be similar to that of carrying a measuring probe which weighs in the order of few grams or generally less than a kilogram [13].…”

Section: Design Inspirationmentioning

confidence: 99%

Investigation on adaptability of carbon fiber tube for serial manipulator

Kartikejan¹,

Sabarianand²,

Sugantan³

2019

FME Transactions

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“…Li et al [9] explored a better kinematic performance and design scheme for a novel mechanical leg. Pinskier et al [10] investigated a 4 degrees-of-freedom (DOF) hybrid parallel-serial slave mechanism and developed a bilateral haptic controller to compensate for coupling and assembly errors. Liu et al [11] studied a bionic flexible manipulator driven by pneumatic muscle actuator and designed a fuzzy torque control algorithm based on the computed torque method.…”

Section: Introductionmentioning

confidence: 99%

Generalized Kinematics Analysis of Hybrid Mechanisms Based on Screw Theory and Lie Groups Lie Algebras

Sun

Chen

et al. 2020

Preprint

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The advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms, and the generalized analysis method and concise kinematics transfer matrix are obtained. First, according to the kinematics analysis of serial mechanisms, the basic principles of Lie groups Lie algebras in dealing with the spatial switching and differential operations of screw vectors are briefly explained. Then, based on the standard ideas of Lie operations, the method for kinematics analysis of parallel mechanisms is derived, and Jacobian matrix and Hessian matrix are formulated both recursively and in closed form. After that, according to the mapping relationship between the parallel joints and the corresponding equivalent series joints, a forward kinematics analysis method and two inverse kinematics analysis methods of hybrid mechanisms are studied. A case study is performed to verify the calculated matrices, in which a humanoid hybrid robotic arm with the parallel-series-parallel configuration is taken as an example. Simulation experiment results show that the obtained formulas are exact and the proposed method for kinematics analysis of hybrid mechanisms is practicable.

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“…Compliant designs offer other benefits such as monolithic manufacturing and repeatable motion through elastic deformation of structural members, meaning there are no friction and backlash involved [22]. There are many ways of actuating such compliant mechanisms such as shape memory alloys [23], electro-thermal actuators [24], electromagnetic [25] and electrostatic control [26].…”

Section: Introductionmentioning

confidence: 99%

Development of a Novel Modular Compliant Gripper for Manipulation of Micro Objects

Lofroth

Avci

2019

Micromachines

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This paper proposes a modular gripping mechanism for the manipulation of multiple objects. The proposed micro gripper combines traditional machining techniques with MEMS technologies to produce a modular mechanism consisting of a sturdy, compliant aluminium base and replaceable end-effectors. This creates an easily-customisable solution for micro manipulation with an array of different micro tips for different applications. We have provided the kinematic analysis for the gripper to predict the output and have also optimised design parameters based on FEA (finite element analysis) simulation and the effects of altering flexure beam lengths. The gripper is operated by a piezo actuator capable of 18 μ m displacement at 150 V of applied DC voltage. This is then amplified by a factor of 8.1 to a maximum tip displacement of 154 μ m. This is achieved by incorporating bridge and lever amplifying techniques into the design. An initial experimental analysis of the micro gripper is provided to investigate the performance of the micro gripper and to gauge the accuracy of the theory and simulation through comparison with experimental results.

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Development of a 4-DOF haptic micromanipulator utilizing a hybrid parallel-serial flexure mechanism

Cited by 65 publications

References 42 publications

Investigation on adaptability of carbon fiber tube for serial manipulator

Investigation on adaptability of carbon fiber tube for serial manipulator

Generalized Kinematics Analysis of Hybrid Mechanisms Based on Screw Theory and Lie Groups Lie Algebras

Development of a Novel Modular Compliant Gripper for Manipulation of Micro Objects

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