Six-DOF micro-manipulator based on compliant parallel mechanism with integrated force sensor

被引：82

作者：

Liang, Qiaokang ^{[2
,3
]}

Zhang, Dan ^{[1
]}

Chi, Zhongzhe ^{[1
]}

Song, Quanjun ^{[2
]}

Ge, Yunjian ^{[2
]}

Ge, Yu ^{[2
]}

机构：

[1] Univ Ontario, Fac Engn & Appl Sci, Inst Technol, Oshawa, ON L1H 7K4, Canada

[2] Chinese Acad Sci, State Key Lab Robot Sensing Syst, Inst Intelligent Machines, Hefei, Anhui, Peoples R China

[3] Univ Sci & Technol China, Dept Automat, Hefei 230026, Anhui, Peoples R China

来源：

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2011年 / 27卷 / 01期

关键词：

Micro manipulator; Compliant parallel mechanism; Force sensor; Stiffness mapping; Workspace; DESIGN; MICROMANIPULATOR; WORKSPACE;

D O I：

10.1016/j.rcim.2010.06.018

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

This paper describes the design of a micro-scale manipulator based on a six-DOF compliant parallel mechanism (CPM) which is featured by piezo-driven actuators and integrated force sensor capable of delivering six-DOF motions with high precision and providing real-time force information for feedback control Particularly the position and screw-based Jacobian analyses of the CPM are presented Then the compliance model and the workspace evaluation of the CPM are proposed in order to account for the compliance and obtain design guidelines Finally the integrated sensor is introduced The static features of such a mechanism include high positioning accuracy structural compactness and smooth and continuous displacements (C) 2010 Elsevier Ltd All rights reserved

引用

页码：124 / 134

页数：11

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