Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
권호 표지
DOI QR코드

DOI QR Code

Kinematic Analysis of the Characteristics of Translational XYZ Micro Parallel Manipulator

병진운동을 하는 XYZ 마이크로 병렬형 머니퓰레이터의 기구학적 특성 분석

  • 김은석 (한양대학교 대학원 기계설계학과) ;
  • 양현익 (한양대학교 기계경영공학과)
  • Published : 2007.04.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this study, a 3-DOF XYZ micro parallel manipulator utilizing compliance mechanism is developed and analyzed. In so doing, a matrix method is used to rapidly solve displacements of the designed kinematic structure, and then kinematic characteristics of the developed manipulator are analyzed. Finally, the design analysis of the kinematic characteristics by changing hinge thickness and structure to improve workspace and translation motion is performed to show that the performance of the developed manipulator is relatively superior to the other similar kind of manipulators.

Keywords

References

  1. Paros, J. M. and Weisbord, L., 1965, 'How to design Flexure Hinge', Machine Design, 37, 151-156
  2. Smith, S., 2000, 'Flexure: Element of Elastic Mechanism,' Gordon and Breach Science Publishers, New York
  3. Lobontiu, N., Paine, J. S. N., Garcia, E. and Goldfarb, M., 2001, 'Corner-Filleted Flexure Hinge', ASME J. Mech,. 123, 346-352 https://doi.org/10.1115/1.1372190
  4. Lobontiu, N., Paine, J. S. N. and Garcia, E., 2003, 'Tow-axi flexure hinges with axially-collocated and symmetric notches', Science, 1329-1341
  5. Rong, Y., Zhu, Y., Lou, Z. and Liu, X., 1994, 'Design and Analysis of Flexure-Hinge Mechanism Used in Micro-position Stage', ASME, Manufacturing Science and Engineering, PED-vol.68-2, 979-986
  6. Nielsen, J. and Tanikawa, T. and Arai, T., 1999, 'Design and Analysis of a 3-DOF Micro Manipulator', Proc.IEEE/RSJ IROS, 2183-2188 https://doi.org/10.1109/ROBOT.1999.770430
  7. Tanikawa, T., Arai, T. and Koyachi, N., 1999, 'Development of Small-sized 3 DOF Finger Module in Micro Hand for Micro Manipulation', Proc. IEEE/RSJ IROS, 876-881 https://doi.org/10.1109/IROS.1999.812790
  8. Koseki, Y., Tanikawa, T., Koyachi, N. and Arai, T., 2000, 'Kinematic Analysis of 3-DOF Micro Parallel Mechanism Using Matrix Method', Proc. IEEE/RSJ IROS, 786-792 https://doi.org/10.1109/IROS.2000.894700
  9. Kwon, K., Park, J., Lee, I., Cho, N. and Yang, H., 2004, 'Precision Evaluation Method for the Positioning Error of Three-DOF Parallel Mechanism using Coordinate Measuring Machine (CMM)', J. of KSPE, Vol. 21, No. 11, 99-109
  10. Lim, S., Kang, K., Park, S., Choi, W., Song, J., Hong, D. and Shim, J., 2002, 'Error Analysis of a parallel Mechanism Considering Link Stiffness and Joint Clearances', KSME int'l J., Vol. 16, No. 6, 799-809