New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs

Gao, Feng; Li, Weimin; Zhao, Xin; Jin, Zhenlin; Zhao, Hui

doi:10.1016/s0094-114x(02)00044-7

Cited by 289 publications

(143 citation statements)

References 7 publications

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“…During the literature review, there are many kinds of 3-DOF planar mechanism configurations (Gao et al, 2002). Several typical planar parallel 3-DOF stages are shown in Fig.…”

Section: Three-dof Micromanipulation-stage Designmentioning

confidence: 99%

Design and analysis of a 3-DOF planar micromanipulation stage with large rotational displacement for micromanipulation system

Ding

Xiao

et al. 2017

Mech. Sci.

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Abstract. Flexure-based mechanisms have been widely used for scanning tunneling microscopy, nanoimprint lithography, fast servo tool system and micro/nano manipulation. In this paper, a novel planar micromanipulation stage with large rotational displacement is proposed. The designed monolithic manipulator has three degrees of freedom (DOF), i.e. two translations along the X and Y axes and one rotation around Z axis. In order to get a large workspace, the lever mechanism is adopted to magnify the stroke of the piezoelectric actuators and also the leaf beam flexure is utilized due to its large rotational scope. Different from conventional pre-tightening mechanism, a modified pre-tightening mechanism, which is less harmful to the stacked actuators, is proposed in this paper. Taking the circular flexure hinges and leaf beam flexures hinges as revolute joints, the forward kinematics and inverse kinematics models of this stage are derived. The workspace of the micromanipulator is finally obtained, which is based on the derived kinematic models.

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“…During the literature review, there are many kinds of 3-DOF planar mechanism configurations (Gao et al, 2002). Several typical planar parallel 3-DOF stages are shown in Fig.…”

Section: Three-dof Micromanipulation-stage Designmentioning

confidence: 99%

Design and analysis of a 3-DOF planar micromanipulation stage with large rotational displacement for micromanipulation system

Ding

Xiao

et al. 2017

Mech. Sci.

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“…The moving platform is connected to the end of each link rod through universal joints, and the moving platform translates in the space parallel to the three sliders without rotation. The trigger probe assembled on the moving platform triggers three reading heads to collect the instantaneous positions synchronously, when the probe touches workpiece [5,6]. The coordinate of the probe can then be calculated based on a measuring model [7,8].…”

Section: Measuring Principle Of 3-puu Pcmmmentioning

confidence: 99%

Error Averaging Effect in Parallel Mechanism Coordinate Measuring Machine

Fan

et al. 2016

Applied Sciences

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Abstract:Error averaging effect is one of the advantages of a parallel mechanism when individual errors are relatively large. However, further investigation is necessary to clarify the evidence with mathematical analysis and experiment. In the developed parallel coordinate measuring machine (PCMM), which is based on three pairs of prismatic-universal-universal joints (3-PUU), error averaging mechanism was investigated and is analyzed in this report. Firstly, the error transfer coefficients of various errors in the PCMM were studied based on the established error transfer model. It can be shown how the various original errors in the parallel mechanism are averaged and reduced. Secondly, experimental measurements were carried out, including angular errors and straightness errors of three moving sliders. Lastly, solving the inverse kinematics by numerical method of iteration, it can be seen that the final measuring errors of the moving platform of PCMM can be reduced by the error averaging effect in comparison with the attributed geometric errors of three moving slides. This study reveals the significance of the error averaging effect for a PCMM.

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“…1,2 Among them, some 5-DoF PMs have attracted a lot of attentions for their merits, such as large workspace, larger capability of load bearing, and suitable for 3D free-form surface normal machining. [3][4][5][6][7][8][9][10][11] Generally, a conventional n-DoF PM (n < 6) includes a moving platform m, a fixed base B, n active legs, and 6-n couple structure constraints which are formed from two legs or more. Therefore, some conventional PMs may be highly sensitive to the manufacturing error due to 6-n couple structure constraints, and an unnecessary tiny self-motion of platform may be generated.…”

Section: Introductionmentioning

confidence: 99%

Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg

Lü

Zhang²,

Sui

et al. 2012

Robotica

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SUMMARYA novel 3-leg 5-DoF parallel manipulator (PM) with a UPU-type composite active constrained leg is proposed and its kinematics and statics are analyzed systematically. First, the formulae are derived for solving the inverse/forward displacements, inverse/forward velocities, and active/constraint forces. Second, the formulae are derived for solving inverse/forward accelerations. Third, a simulation mechanism of this PM is created and its workspace is constructed and analyzed. Finally, the analytic results are verified by its simulation mechanism. The line from a i to o, e i = e.The line fromThe active leg and its length. l i , L i The side of m and B. P, S The prismatic joint and the spherical joint. R jThe revolute joints (j = 1, 2, 3, 4).The universal joint with R 1 and R 2. U BThe universal joint with R 3 and R 4. {m} Coordinate frame o-xyz fixed on m. {B} Coordinate frame O-XYZ fixed on B. v riThe input velocity of active leg. e, E The distances from a i to o and from A i to O. F, T The concentrated force and torque applied on m at o. F aiThe active forces applied on and along r i. T aThe active torque applied on R 1. T λThe active torque applied on R 4. F c , T c The constrained force and the constrained torque. T bThe bending moment exerted on r 2. Rotational matrix from {m} to {B}. J, HThe Jacobian matrix and Hessian matrix.

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New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs

Cited by 289 publications

References 7 publications

Design and analysis of a 3-DOF planar micromanipulation stage with large rotational displacement for micromanipulation system

Design and analysis of a 3-DOF planar micromanipulation stage with large rotational displacement for micromanipulation system

Error Averaging Effect in Parallel Mechanism Coordinate Measuring Machine

Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg

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