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In this paper, the design procedure of an auto-focusing device for a microscope is presented. To obtain a long focusing distance, a new flexure positioning mechanism is devised based on multi-stage leaf springs. The proposed device allows a precise focusing without friction and backlash effects. A voice coil motor is employed to drive the positioning mechanism. The stiffness model and resonant-frequency...
This paper presents the design and fabrication process of a new piezoelectrically actuated flexure-based XYZ compliant parallel-kinematics micropositioning stage with totally decoupled properties. The proposed XYZ stage consists of three limbs which are assembled in an orthogonal manner, and it has both input and output decoupling properties. Analytical models for kinematics, statics, and dynamics...
This paper presents the design and development procedures of a new decoupled XY micromanipulator for micro scale positioning applications. The manipulator is featured with parallel-kinematic architecture, flexure hinge-based joints, and piezoelectric actuation. Based on the lumped model, the efficient models for kinematics, statics and dynamics of the XY stage have been obtained, which are verified...
In this paper, the architectural parameters optimization of a three-prismatic-universal-universal (3-PUU) parallel kinematic machine (PKM) with three translational degree-of-freedom (DOF) is performed using the efficient particle swarm optimization (PSO) to achieve the optimum stiffness characteristics. Based on the stiffness matrix derived previously, the minimum stiffness over a cubic usable workspace...
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, 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...
This paper presents a new approach to the architecture optimization of a general 3-PUU translational parallel manipulator (TPM) based on the performance of a weighted sum of global dexterity index and a new performance index-space utility ratio (SUR). Both the inverse kinematics and forward kinematics solutions are derived in closed form, and the Jacobian matrix is derived analytically. The manipulator...
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