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In this paper, the design of a new compliant two-axis PZT actuated gripper is proposed based on flexure mechanisms. Its uniqueness is that both of the two gripper jaws can achieve two degree-of-freedom (DOF) movement. A lever structure is designed to meet the requirement of larger displacement due to the stroke limitation of the actuator. The gripper parameters are optimized by using genetic algorithm...
The architecture optimization of a three degrees of freedom (3-DOF) planar cable-driven parallel manipulator (CDPM) with multiple objectives has been implemented by means of GA approach in this paper. Firstly, the kinematics and statics issues of the CDPM are addressed, which allows the generation of the feasible workspace restricted by both the cable length limits and tension bounds. Then, the optimal...
In this paper, an optimal design of a three-prismatic-universal-universal (3-PUU) translational parallel manipulator is performed using the genetic algorithm (GA) to achieve optimum stiffness characteristics. The stiffness matrix is derived intuitively based upon an overall Jacobian with the consideration of actuation and constraints, and the compliance subjected to both actuators and legs is taken...
In this paper, a new parallel nanopositioner (PNP) employing a spatial compliant parallel manipulator has been proposed due to the excellent accuracy of parallel mechanisms and flexure hinges. The system is established by a proper selection of hardware and analyzed based upon the derived pseudo-rigid-body model. In view of the physical constraints imposed by both the piezoelectric actuators and flexure...
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