Design of 3-DOF parallel mechanism with thin plate for micro finger module in micro manipulation

Tanikawa, Tamio; Ukiana, Motohide; Morita, Kazuo; Koseki, Yoshihiko; Ohba, Kohtaro; Fujii, Kanako; Arai, Tatsuo

doi:10.1109/irds.2002.1044013

Cited by 32 publications

(19 citation statements)

References 8 publications

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“…In [19], kinematic analysis is performed for a 3-DOF (Degree Of Freedom) parallel mechanism. In [2], an analysis of 3-DOF parallel manipulator is done by considering active and passive joints, and the optimal design is proposed using kinematic isotropic index.…”

Section: B Flexure Joints In Roboticsmentioning

confidence: 99%

Micro Planar Parallel Mechanism Design using Configuration Change Effect of Flexure Mechanism

Kang

Cho²

2007

2007 International Symposium on Computational Intelligence in Robotics and Automation

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Flexure joints are frequently used in precision mechanisms, from motion stages to micro-robots. Due to their monolithic construction and superior wear and loss properties, flexure joints can be used to reduce the mechanism size and increase the positioning accuracy. The compliance of flexure joints, however, can affect the static and dynamic characteristics of the overall mechanism. The objective of this paper is to develop analysis and design tools for general platform type parallel mechanisms that contain flexure joints.In this paper, a micro planar parallel mechanism that has 3-DOF motion is examined by considering the configuration change effect. Usually, MEMS mechanism is designed for a specific purpose with a motion restriction. Here, using the conventional planar parallel robotics design, a general purpose of micro mechanism is presented.

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Section: B Flexure Joints In Roboticsmentioning

confidence: 99%

Micro Planar Parallel Mechanism Design using Configuration Change Effect of Flexure Mechanism

Kang

Cho²

2007

2007 International Symposium on Computational Intelligence in Robotics and Automation

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“…Further, optimization taking into consideration the manipulator's workspace has been done [5]- [7]. Translational parallel mechanisms have been applied to medical robots [8] and micromanipulators [9].…”

Section: Introductionmentioning

confidence: 99%

Kinematic design of a translational parallel manipulator with fine adjustment of platform orientation

Tanabe

Takeda

2009

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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We present a kinematic design of a translational parallel manipulator with fine adjustment capability of platform orientation (TPMFAO). In order to clarify possible kinematic structures for it, structural synthesis of fully decoupled mechanism and partially decoupled mechanism both with six degrees of freedom (dof) was carried out based on the synthesis results of translational and rotational parallel mechanisms with three dof. All possible kinematic structures are listed as the result. Of these, one partially decoupled mechanism was selected and a kinematic design of a prototype manipulator was done. Its characteristics in terms of workspace, singularity, orientation adjustment capability, and coupling characteristics between translational and rotational displacement are discussed.

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“…(12)- (15). Translational parallel mechanisms have been used in a chest compression machine for cardiopulmonary resuscitation (16) and in micromanipulators (17) (18) . The singularity of a lower-dof parallel mechanism was investigated in Refs.…”

Section: Introductionmentioning

confidence: 99%

Utility Workspace of 3-5R Translational Parallel Mechanism

Tanabe

Takeda

Huda

2008

JAMDSM

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We discuss a kinematic design of a 3-5R translational parallel mechanism with a large utility workspace. The utility workspace is a closed area, in which the mechanism can move to point without suffering from singularities or running into workspace boundaries. An algorithm for computing the volume of the utility workspace is proposed. We discuss the utility workspace of 3-5R translational parallel mechanisms having three types of chain in consideration of their actuation and constraint singularities. We obtained a 3-RUU translational parallel mechanism with a large utility workspace.

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Design of 3-DOF parallel mechanism with thin plate for micro finger module in micro manipulation

Cited by 32 publications

References 8 publications

Micro Planar Parallel Mechanism Design using Configuration Change Effect of Flexure Mechanism

Micro Planar Parallel Mechanism Design using Configuration Change Effect of Flexure Mechanism

Kinematic design of a translational parallel manipulator with fine adjustment of platform orientation

Utility Workspace of 3-5R Translational Parallel Mechanism

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