Design of 3-DOF parallel manipulators for micro-motion applications
This thesis presents two unique micro-motion parallel kinematic manipulators (PKM): a three degrees of freedom (3-DOF) micro-motion manipulator and a 3-DOF micro-motion manipulator with actuation redundancy. The 3-DOF micro-motion manipulator has three linear-motion driving units, and the 3-DOF micr...
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ndltd-LACETR-oai-collectionscanada.gc.ca-OOSHDU.10155-682013-04-17T04:05:44ZDesign of 3-DOF parallel manipulators for micro-motion applicationsLi, JianParallel manipulatorInverse kinematicJacobian matrixStiffness analysisThis thesis presents two unique micro-motion parallel kinematic manipulators (PKM): a three degrees of freedom (3-DOF) micro-motion manipulator and a 3-DOF micro-motion manipulator with actuation redundancy. The 3-DOF micro-motion manipulator has three linear-motion driving units, and the 3-DOF micro-motion manipulator with redundancy has four of these units. For both designs, the linear motion driving units are identical, and both machines have a passive link in the center of the structure. The purpose of this passive link is to restrain the movement of the manipulator and to improve the stiffness of the structure. As a result, both structures support 3-DOF, including one translation on the Z-axis and two rotations around the X and Y axes. The manipulator with redundancy is designed to prevent singularity and to improve stiffness. In this thesis, the inverse kinematic, Jacobian matrix and stiffness analyses have been conducted, followed by the design optimization for structures. Finally, the FEA (Finite Element Analysis) and dynamic analysis have also been performed. There are many practical applications for micro-motion parallel manipulators. The typical applications include micro-machine assembly, biological cell operation, and microsurgery .UOITZhang, Dan2010-02-12T20:07:23Z2010-02-12T20:07:23Z2009-08-01Thesishttp://hdl.handle.net/10155/68en |
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en |
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Parallel manipulator Inverse kinematic Jacobian matrix Stiffness analysis |
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Parallel manipulator Inverse kinematic Jacobian matrix Stiffness analysis Li, Jian Design of 3-DOF parallel manipulators for micro-motion applications |
description |
This thesis presents two unique micro-motion parallel kinematic manipulators (PKM):
a three degrees of freedom (3-DOF) micro-motion manipulator and a 3-DOF micro-motion
manipulator with actuation redundancy. The 3-DOF micro-motion manipulator has three
linear-motion driving units, and the 3-DOF micro-motion manipulator with redundancy has
four of these units.
For both designs, the linear motion driving units are identical, and both machines
have a passive link in the center of the structure. The purpose of this passive link is to
restrain the movement of the manipulator and to improve the stiffness of the structure. As a
result, both structures support 3-DOF, including one translation on the Z-axis and two
rotations around the X and Y axes. The manipulator with redundancy is designed to prevent
singularity and to improve stiffness.
In this thesis, the inverse kinematic, Jacobian matrix and stiffness analyses have been
conducted, followed by the design optimization for structures. Finally, the FEA (Finite
Element Analysis) and dynamic analysis have also been performed.
There are many practical applications for micro-motion parallel manipulators. The
typical applications include micro-machine assembly, biological cell operation, and microsurgery
. === UOIT |
author2 |
Zhang, Dan |
author_facet |
Zhang, Dan Li, Jian |
author |
Li, Jian |
author_sort |
Li, Jian |
title |
Design of 3-DOF parallel manipulators for micro-motion applications |
title_short |
Design of 3-DOF parallel manipulators for micro-motion applications |
title_full |
Design of 3-DOF parallel manipulators for micro-motion applications |
title_fullStr |
Design of 3-DOF parallel manipulators for micro-motion applications |
title_full_unstemmed |
Design of 3-DOF parallel manipulators for micro-motion applications |
title_sort |
design of 3-dof parallel manipulators for micro-motion applications |
publishDate |
2010 |
url |
http://hdl.handle.net/10155/68 |
work_keys_str_mv |
AT lijian designof3dofparallelmanipulatorsformicromotionapplications |
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1716580206792146945 |