A new XYZ compliant parallel mechanism for micro-/nano-manipulation: Design and analysis

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dc.contributor.author Li, Haiyang
dc.contributor.author Hao, Guangbo
dc.contributor.author Kavanagh, Richard C.
dc.date.accessioned 2019-11-26T11:01:46Z
dc.date.available 2019-11-26T11:01:46Z
dc.date.issued 2016-02-01
dc.identifier.citation Li, H., Hao, G. and Kavanagh, R. C. (2016) 'A New XYZ Compliant Parallel Mechanism for Micro-/Nano-Manipulation: Design and Analysis', Micromachines, 7(2), 23 (18pp) doi: 10.3390/mi7020023 en
dc.identifier.volume 7 en
dc.identifier.issued 2 en
dc.identifier.startpage 1 en
dc.identifier.endpage 18 en
dc.identifier.uri http://hdl.handle.net/10468/9245
dc.identifier.doi 10.3390/mi7020023 en
dc.description.abstract Based on the constraint and position identification (CPI) approach for synthesizing XYZ compliant parallel mechanisms (CPMs) and configuration modifications, this paper proposes a new fully-symmetrical XYZ CPM with desired motion characteristics such as reduced cross-axis coupling, minimized lost motion, and relatively small parasitic motion. The good motion characteristics arise from not only its symmetric configuration, but also the rigid linkages between non-adjacent rigid stages. Comprehensive kinematic analysis is carried out based on a series of finite element simulations over a motion range per axis less than ±5% of the beam length, which reveals that the maximum cross-axis coupling rate is less than 0.86%, the maximum lost motion rate is less than 1.20%, the parasitic rotations of the motion stage (MS) are in the order of 10−5 rad, and the parasitic translations of the three actuated stages (ASs) are in the order of 10−4 of the beam length (less than 0.3% of the motion range), where the beam slenderness ratio is larger than 20. Furthermore, the nonlinear analytical models of the primary translations of the XYZ CPM, including the primary translations of the MS and the ASs, are derived and validated to provide a quick design synthesis. Moreover, two practical design schemes of the proposed XYZ CPM are discussed with consideration of the manufacturability. The practical designs enable the XYZ CPM to be employed in many applications such as micro-/nano-positioning, micro-/nano-manufacturing and micro-/nano-assembly. Finally, a spatial high-precision translational system is presented based on the practical design schemes, taking the actuator and sensor integration into account. en
dc.description.sponsorship Irish Research Council (IRCSET Embark PhD scholarship RS/2012/361) en
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.publisher MDPI en
dc.rights ©2016 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons by Attribution (CC-BY) license ( http://creativecommons.org/licenses/by/4.0/). en
dc.rights.uri https://creativecommons.org/licenses/by/4.0/ en
dc.subject Compliant parallel mechanism en
dc.subject Micro-/nano-manipulation en
dc.subject Conceptual design en
dc.subject Kinematic analysis en
dc.subject Analytical modeling en
dc.subject Practical design en
dc.title A new XYZ compliant parallel mechanism for micro-/nano-manipulation: Design and analysis en
dc.type Article (peer-reviewed) en
dc.internal.authorcontactother Guangbo Hao, School of Engineering-Electrical and Electronic Engineering, University College Cork, Cork, Ireland. +353-21-490-3000 Email:g.hao@ucc.ie en
dc.internal.availability Full text available en
dc.description.version Published Version en
dc.contributor.funder Irish Research Council en
dc.description.status Peer reviewed en
dc.identifier.journaltitle Micromachines en
dc.internal.IRISemailaddress g.hao@ucc.ie en
dc.identifier.articleid 23 en
dc.identifier.eissn 2072-666X


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©2016 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons by Attribution (CC-BY) license ( http://creativecommons.org/licenses/by/4.0/). Except where otherwise noted, this item's license is described as ©2016 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons by Attribution (CC-BY) license ( http://creativecommons.org/licenses/by/4.0/).
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