Optimal Design of a 3-DOF Parallel Micromanipulator Conferences

abstract

• A new compliant parallel micromanipulator is proposed in this paper. The manipulator has three degrees of freedom (DOF) and can generate motions in a microscopic scale. It can be used for biomedical engineering and fiber optics industry. In the paper, the detailed design of the structure is first introduced, followed by the kinematic analysis and performance evaluation. Second, a finite-element analysis of resultant stress, strain, and deformations is evaluated based upon different inputs of the three piezoelectric actuators. Finally, the genetic algorithms and radial basis function networks are implemented to search for the optimal architecture and behavior parameters in terms of global stiffness, dexterity and manipulability.

authors

• Zhang, Dan
• Gao, Zhen
• Li, Beizhi

status

• published 

publication date

• January 1, 2009

published in

• Volume 5: 35th Design Automation Conference, Parts A and B  Journal

presented at event

• ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference  Conference

keywords

• 3R MANIPULATORS
• Automation & Control Systems
• BASIS FUNCTION NETWORKS
• Compliant manipulator
• Engineering
• Engineering, Mechanical
• OPTIMIZATION
• Science & Technology
• Technology
• finite element method
• kinematic optimization
• parallel manipulator

Digital Object Identifier (DOI)

• 10.1115/detc2009-86259

International Standard Book Number (ISBN) 13

• 978-0-7918-4902-6

start page

• 815

end page

• 826