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Proceedings Article

Loop closure theory in deriving linear and simple kinematic model for a 3-DOF parallel micromanipulator

[+] Author Affiliations
Yuen Kuan Yong, Tien-Fu Lu, Daniel C. Handley

The Univ. of Adelaide (Australia)

Proc. SPIE 5276, Device and Process Technologies for MEMS, Microelectronics, and Photonics III, 57 (April 2, 2004); doi:10.1117/12.522258
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From Conference Volume 5276

  • Device and Process Technologies for MEMS, Microelectronics, and Photonics III
  • Jung-Chih Chiao; Alex J. Hariz; David N. Jamieson; Giacinta Parish; Vijay K. Varadan
  • Perth, Australia | December 09, 2003

abstract

Various types of micro-motion devices have been developed in the past decade for applications including the manipulation of cells in micro-surgery and the assembly of micro-chips in micro-assembly industries. Most of the micro-motion devices are designed using the compliant mechanism concept, where the devices gain their motions through deflections. In addition, closed-loop parallel structures are normally adopted due to better stiffness and accuracy compared to the serial structures. However, the forward kinematics of parallel structures are complex and non-linear; to solve these equations, a numerical iteration technique has to be employed. This iteration process will increase computational time, which is highly undesirable. This paper presents a method of deriving a simple, linear and yet effective kinematic model based on the loop closure theory and the concept of the pseudo-rigid-body model. This method is illustrated with a 3 DOF (degree-of-freedom) micro-motion device. The results of this linear method are compared with a full kinematic model for the same micro-motion system. It is proved that the derived kinematic model in this paper is accurate and the methodology proposed is effective. The static model of the micro-motion device will also be presented. The uncoupling property of the micro-motion systems, based on the static model, will be briefly discussed.

© (2004) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

Topics

Kinematics ; Surgery
Citation

Yuen Kuan Yong ; Tien-Fu Lu and Daniel C. Handley
"Loop closure theory in deriving linear and simple kinematic model for a 3-DOF parallel micromanipulator", Proc. SPIE 5276, Device and Process Technologies for MEMS, Microelectronics, and Photonics III, 57 (April 2, 2004); doi:10.1117/12.522258; http://dx.doi.org/10.1117/12.522258


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