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A newly designed three-degree-of-freedom compliant parallel micromanipulator (CPM) with partially decoupled characteristics of XYZ translational motion is proposed in this paper. The CPM is driven by the selected piezoelectric actuators (PZTs) whose strokes are amplified by using the amplification lever mechanism. The design procedure of the CPM is presented in detail, and the CPM parasitic motion...
The requirements of micro/nano scale manipulation have stimulated the activities around the design and development of new micromanipulators with ultrahigh precision recently. A novel compliant parallel micromanipulator (CPM) with 3-PRC architecture has been proposed in previous works of the authors. However, it has been found that there exist some drawbacks in the preliminarily designed CPM in terms...
The dynamics of a 3-PRC (three-prismatic-revolute-cylindrical) compliant parallel micromanipulator (CPM) is investigated in this paper, which is quite necessary once the high frequency control is concerned. By expressing both potential and kinetic energies of the CPM with the chosen generalized coordinates, the dynamic equation is established through the Lagrangian approach. And the dynamic model...
The concept of a medical parallel robot applicable to chest compression in the process of cardiopulmonary resuscitation (CPR) is proposed in this paper. According to the requirement of CPR action, a three-prismatic-universal-universal (3-PUU) translational parallel manipulator (TPM) is designed and developed for such applications, and a detailed analysis has been performed for the 3-PUU TPM involving...
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