Design of a 6-DOF compliant manipulator based on serial-parallel architecture

Daihong Chao; Guanghua Zong; Rong Liu

Design of a 6-DOF compliant manipulator based on serial-parallel architecture

Daihong Chao^*
, Guanghua Zong
, Rong Liu

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University

Research output: Contribution to conference › Paper › peer-review

35 Scopus citations

Abstract

A novel dexterous 6DOF manipulator serially connected by two compliant parallel stages is presented in this paper. The upper stage is a 3-RPS mechanism and the lower one is a 3-RRR mechanism. In virtue of the method of the physical model of the solution space, optimal design of the lower stage has been accomplished. Then, the calibration of the lower stage is undergoing by means of an ultra-precision vision system. The experiment shows that the lower stage possesses workspace of 120μm × 130μm × 18mrad with the resolution of 50nm, 50nm, 18arcsec, respectively. This manipulator is to be used as a fiber optics aligner.

Original language	English
Pages	765-770
Number of pages	6
State	Published - 2005
Event	Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States Duration: 24 Jul 2005 → 28 Jul 2005

Conference

Conference	Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
Country/Territory	United States
City	Monterey, CA
Period	24/07/05 → 28/07/05

Cite this

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title = "Design of a 6-DOF compliant manipulator based on serial-parallel architecture",

abstract = "A novel dexterous 6DOF manipulator serially connected by two compliant parallel stages is presented in this paper. The upper stage is a 3-RPS mechanism and the lower one is a 3-RRR mechanism. In virtue of the method of the physical model of the solution space, optimal design of the lower stage has been accomplished. Then, the calibration of the lower stage is undergoing by means of an ultra-precision vision system. The experiment shows that the lower stage possesses workspace of 120μm × 130μm × 18mrad with the resolution of 50nm, 50nm, 18arcsec, respectively. This manipulator is to be used as a fiber optics aligner.",

author = "Daihong Chao and Guanghua Zong and Rong Liu",

year = "2005",

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AU - Chao, Daihong

AU - Zong, Guanghua

AU - Liu, Rong

PY - 2005

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N2 - A novel dexterous 6DOF manipulator serially connected by two compliant parallel stages is presented in this paper. The upper stage is a 3-RPS mechanism and the lower one is a 3-RRR mechanism. In virtue of the method of the physical model of the solution space, optimal design of the lower stage has been accomplished. Then, the calibration of the lower stage is undergoing by means of an ultra-precision vision system. The experiment shows that the lower stage possesses workspace of 120μm × 130μm × 18mrad with the resolution of 50nm, 50nm, 18arcsec, respectively. This manipulator is to be used as a fiber optics aligner.

AB - A novel dexterous 6DOF manipulator serially connected by two compliant parallel stages is presented in this paper. The upper stage is a 3-RPS mechanism and the lower one is a 3-RRR mechanism. In virtue of the method of the physical model of the solution space, optimal design of the lower stage has been accomplished. Then, the calibration of the lower stage is undergoing by means of an ultra-precision vision system. The experiment shows that the lower stage possesses workspace of 120μm × 130μm × 18mrad with the resolution of 50nm, 50nm, 18arcsec, respectively. This manipulator is to be used as a fiber optics aligner.

UR - https://www.scopus.com/pages/publications/27644460991

M3 - 论文

AN - SCOPUS:27644460991

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T2 - Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005

Y2 - 24 July 2005 through 28 July 2005

ER -

Design of a 6-DOF compliant manipulator based on serial-parallel architecture

Abstract

Conference

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