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Relationship among Input-Force, Payload, Stiffness and Displacement of a XYγ Perpendicular Parallel Micro-manipulator
Yue Yi 1 * #,Gao Feng 2,Jin Zhenlin 3,Xianchao Zhao 1
1.State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University
2. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University
3.School of Mechanical Engineering, Yanshan University
*Correspondence author
#Submitted by
Subject:
Funding: 国家自然科学基金,国家自然科学基金,教育部博士点基金,国家自然科学基金重大项目,教育部博士专项基金(No.No:30770538,No:50728503,No:20060248030,No:60534020,)
Opened online: 8 February 2010
Accepted by: none
Citation: Yue Yi,Gao Feng,Jin Zhenlin.Relationship among Input-Force, Payload, Stiffness and Displacement of a XYγ Perpendicular Parallel Micro-manipulator[OL]. [ 8 February 2010] http://en.paper.edu.cn/en_releasepaper/content/40049
 
 
In this paper, a three degrees of freedom (DOF) XYγcomplaint perpendicular parallel micro-manipulator (PPMM) with monolithic structure is presented. To achieve highly accurate control, a new approach investigating the relationship among input-force, payload, stiffness, and displacement (IPSD) of the XYγPPMM is proposed in analytical style. And the relationship between voltage value of piezoelectric actuator and output displacement of end effector is obtained base on the IPSD model. The proposed IPSD model is useful for both digital control and design of the XYγPPMM.
Keywords:Compliant parallel mechanisms;Micro-manipulator;Stiffness;Flexure hinge
 
 
 

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