Design and Analysis of 3-DOF Micromanipulator Driven by Piezoelectric Actuators

2008 ◽  
Author(s):  
Shihua Li ◽  
Yue Zhang ◽  
Zhen Huang ◽  
Changcheng Yu ◽  
Wenhua Ding
Keyword(s):  
Finite Element ◽  
Finite Element Modeling ◽  
Parallel Mechanism ◽  
Piezoelectric Actuators ◽  
Coefficient Matrix ◽  
Influence Coefficient ◽  
Velocity Analysis ◽  
First Order ◽  
Flexure Hinges ◽  
Moving Platform

A novel 3-DOF parallel micromanipulator which is driven by piezoelectric actuators has been developed that based on 3–5R parallel mechanism. The micromanipulator consists of a moving platform, a fixed platform, three 5R fixed-length chains and three piezoelectric actuators. In this paper, the first-order influence coefficient matrix of the micromanipulator is given, and then the velocity analysis is given. The dimension of the platform and flexure hinges and the position of flexure are designed, and the safety check of the flexible hinges and the designed mechanism is done with the aid of finite element modeling to provide good stiffness with little bending deformation of the platform. The merits of parallel mechanism and piezoelectric actuators are reflected in this mechanism.

Acceleration and Dexterity Performance Indices for 6-DOF and Lower-Mobility Parallel Mechanism

2004 ◽  
Author(s):  
X. J. Guo ◽  
F. Q. Chang ◽  
S. J. Zhu
Keyword(s):  
Parallel Mechanism ◽  
Robot Manipulator ◽  
Coefficient Matrix ◽  
Second Order ◽  
Influence Coefficient ◽  
Global Index ◽  
Performance Indices ◽  
First Order ◽  
Lower Mobility

On the basis of first-order and second-order kinematic influence coefficient matrices, dynamics characteristics indices for robot manipulator are presented in the paper. Different from indices before, these indices include not only the first-order kinematics influence coefficient matrix G, but also the second-order kinematic influence coefficient matrix H. Then with the global index, these indices can be used to guide the dynamics design.

Influence Coefficients and Singularity Analysis of a Novel 3-UPU Parallel Mechanism

2017 ◽  
Author(s):  
Ziming Chen ◽  
Dongliang Cheng ◽  
Yang Zhang ◽  
Zhiwei Yang ◽  
Jin Zhou
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Model Simulation ◽  
Hessian Matrix ◽  
Symmetry Plane ◽  
Coefficient Matrix ◽  
Singularity Analysis ◽  
Influence Coefficient ◽  
Parasitic Motion ◽  
Moving Platform

A novel 3-UPU parallel mechanism with two rotational and one translational (2R1T) degrees of freedom (DOFs) is analyzed in this paper. The base and moving platform of this mechanism are always symmetric about a middle symmetry plane. The moving platform can rotate continuously about any axis on the middle symmetry plane, so there exists no parasitic motion during the rotation. Using the kinematic influence coefficient theory and the imaginary mechanism method, the first and second order influence coefficient matrix (namely Jacobian matrix and Hessian matrix) of this mechanism are derived. The relations between the velocity and acceleration of the moving platform and the actuated links are obtained. In order to verify the correctness of the theory, two numerical examples are enumerated and varified by the 3D model simulation. The singularities of this mechanism is discussed and the singular configurations of the mechanism, including one kind of limb singularity and two kinds of platform singularities, are obtained.

Exact First Order Finite Element Modeling for Eddy Current NDE

1991 ◽  
Vol 3 (1) ◽  
pp. 235-253 ◽  
Author(s):  
L. D. Philipp ◽  
Q. H. Nguyen ◽  
D. D. Derkacht ◽  
D. J. Lynch ◽  
A. Mahmood
Keyword(s):  
Finite Element ◽  
Finite Element Modeling ◽  
Eddy Current ◽  
Element Modeling ◽  
First Order ◽  
Eddy Current Nde

Research on Dynamics of a Three-DOF Parallel Manipulator for Levelling Mechanism

2013 ◽  
Vol 774-776 ◽  
pp. 1369-1374 ◽  
Author(s):  
Hong Jun Yang
Keyword(s):  
Parallel Manipulator ◽  
Coefficient Matrix ◽  
Dynamics Simulation ◽  
Dynamic Equations ◽  
Control System Design ◽  
Influence Coefficient ◽  
Lagrange Method ◽  
First Order ◽  
Influence Coefficient Method ◽  
Coefficient Method

A three-DOF parallel manipulator with two rotations and one translation was put forward as a levelling mechanism in this paper. Its structure and kinematics were analyzed and the first-order influence coefficient matrix was obtained by using the influence coefficient method. Then the complete and concise dynamic equations without too many unknowns were established based on Lagrange method. In addition, the dynamics simulation was carried out and the result shows that drive forces of the legs have no strong coupling, which is important to control system design.

Kinematic Analysis of 4-UPU Parallel Mechanism Based on Influence Coefficient

2015 ◽  
Vol 741 ◽  
pp. 691-696 ◽  
Author(s):  
Guang Lan Xia ◽  
Xing Wei Hu ◽  
Bao Lin Yin ◽  
Feng Yu
Keyword(s):  
Numerical Analysis ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Coefficient Matrix ◽  
Degree Of Freedom ◽  
Kinematics And Dynamics ◽  
Influence Coefficient ◽  
Mechanism Analysis ◽  
Acceleration Coefficient ◽  
Mechanism Kinematic

Mechanism kinematic influence coefficient deeply reflects the essence of the kinematics and dynamics mechanism, analysis of the problems of many institutions can use the influence coefficient of clear and clearly expressed. In this paper, with less degree of freedom parallel mechanism as the research object, through the virtual mechanism method to derive one or two order influence coefficient matrix, based on the analysis of the mechanism and influence of speed and acceleration coefficient matrix. Finally, the precision of the method for solving the kinematics is proved by examples of numerical analysis.

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