کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
6868111 | 680747 | 2016 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Modeling and experimental study of a novel 3-RPR parallel micro-manipulator
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
We propose a novel planar micro-manipulator, which uses a 3-RPR parallel mechanism. The micro-manipulator is characterized by parallel mechanism, monolithic and compliant structure and piezoelectric (PZT) actuation. The structure and characteristics of the 3-RPR micro-manipulator are presented and the relationships between actuation displacements, driving forces, PZT inputs and the end pose are derived. Based on the derived model, the micro-manipulator workspace is analyzed. To increase the accuracy of the prototype, an experimentally calibrated open-loop model is proposed. Finally, we carried out experiments on planar translational and rotational trajectories to demonstrate the prototype performance. The result shows the high accuracy of the proposed micro-manipulator and its promising application prospects in micro/nano-engineering.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 37, February 2016, Pages 115-124
Journal: Robotics and Computer-Integrated Manufacturing - Volume 37, February 2016, Pages 115-124
نویسندگان
Yi Dong, Feng Gao, Yi Yue,