Position Control of a Compliant Mechanism Based Micromanipulator
Abstracz This paper addresses the modeling and control of a compliant micromanipulator for use in such$elh as microsurgery, telesurgery, and microassembly, The unique flexure-based manipulator utilizes revolute flexure joints in achieving well-behaved kinematic characteristics, without the backlash and stick-slip phenomena that would otherwise impede precision control. A mathematical model of the micromanipulator is formulated, and a controller for positioning of the manipulator is derived. The model and resulting controller are unlike @pica1 manipulator models and controllers, since this manipulator is actually a controlled large range-of-motion structure with nonlinear structural dynamics. Following the development of the controller, computer simulations of the proposed controller on the manipulator are used to verifL the positioning pedormance.
ABSTRACT Title of Dissertation: DESIGN AND FABRICATION OF ELECTROTHERMAL MICROMOTORS AND COMPLIANT MECHANISMS FOR SPATIAL PARALLEL MICROMANIPULATORS
Title of Dissertation: DESIGN AND FABRICATION OF ELECTROTHERMAL MICROMOTORS AND COMPLIANT MECHANISMS FOR SPATIAL PARALLEL MICROMANIPULATORS Wei-Jen Cheng, Doctor of Philosophy, 2005 Directed By: Associate Professor Don DeVoe Department of Mechanical Engineering In this dissertation a new class of spatial micromechanisms employing compliant joints and electrothermal motors has been developed. Th...متن کامل
with three translational degrees of freedom" SUMMARY This paper introduces a three degree of freedom XYZ Micromanipulator (XYZM) that is fabricated in the x-y plane and positions components in the x, y, and z directions using three independent linear inputs. The mechanism positions components on a platform using three legs, each composed of a slider mechanism and a parallelogram mechanism. Thre...متن کامل
This paper presents a linkage factors synthesis and multi-level optimization technique for bi-stable compliant mechanism. The linkage synthesis problem is modeled as multiple level factors and responses optimization problem with constraints. The bi-stable compliant mechanism is modeled as a crank slider mechanism using pseudo-rigid-body model (PRBM). The model exerts the large deflection of fle...متن کامل
This paper presents a coupling method in order to establish force-feedback user interaction with a micromanipulator. The presented control scheme design is based on stability considerations and, hence, allows unconditional stable operation independently on the haptic interface, micromanipulator and scaling ratios on force and position. Experimental comparison of proposed coupling with a common ...متن کامل
The paper presents a new parallel micromanipulator that is composed of three piezohydraulic actuation systems. The basic elements of the actuation system are a piezoelectric actuator, a bellows and hydraulic oil. The use of the flexible bellows results in a new type of parallel structure, where the joints are integrated into actuator links. The joint-free tripod-like micromanipulator is control...متن کامل