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

^*此作品的通讯作者

机械工程及自动化学院

Beihang University

科研成果: 会议稿件 › 论文 › 同行评审

35 引用（Scopus）

摘要

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.

源语言	英语
页	765-770
页数	6
出版状态	已出版 - 2005
活动	Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, 美国期限: 24 7月 2005 → 28 7月 2005

会议

会议	Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
国家/地区	美国
市	Monterey, CA
时期	24/07/05 → 28/07/05

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引用此

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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",

language = "英语",

pages = "765--770",

note = "Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 ; Conference date: 24-07-2005 Through 28-07-2005",

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TY - CONF

T1 - Design of a 6-DOF compliant manipulator based on serial-parallel architecture

AU - Chao, Daihong

AU - Zong, Guanghua

AU - Liu, Rong

PY - 2005

Y1 - 2005

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

SP - 765

EP - 770

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

摘要

会议

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