There is an increasing need for XY compliant parallel micromanipulators (CPMs) providing good performance characteristics such as large motion range, well-constrained cross-axis coupling, and parasitic rotation. Decoupled topology design of the CPMs can easily realize these merits without increasing the difficulty of controlling. This paper proposes an improved 4-PP model on the basis of a classical 4-PP model and both of them are selected for manufacturing and testing to verify the effectiveness of the improvement. It has shown from experimental results that there is a large improvement on the performances of improved 4-PP compliant parallel manipulator (CPM): large range of motion up to 5 mm × 5 mm in the unidirection in the dimension of 311 mm × 311 mm × 24 mm, smaller compliance fluctuation (only 36.63% of that of the initial 4-PP model), smaller cross-axis coupling (only 28.10% of that of the initial 4-PP model generated by a single-axis 5 mm actuation), smaller in-plane parasitic yaw (only 57.14% of that of the initial 4-PP model generated by double-axis 5 mm actuation).
Design and Experimental Testing of an Improved Large-Range Decoupled XY Compliant Parallel Micromanipulator1
Manuscript received July 31, 2014; final manuscript received April 8, 2015; published online July 17, 2015. Assoc. Editor: Raffaele Di Gregorio.
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Yu, J., Xie, Y., Li, Z., and Hao, G. (November 1, 2015). "Design and Experimental Testing of an Improved Large-Range Decoupled XY Compliant Parallel Micromanipulator." ASME. J. Mechanisms Robotics. November 2015; 7(4): 044503. https://doi.org/10.1115/1.4030467
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