Design and Development of 3-DOF Modular Micro Parallel Kinematic Manipulator
Name
IMST007.pdf
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303.16 KB
Format
Adobe PDF
Checksum (MD5)
3737cd42124320696129995c7c5468fa
Author(s)
Ng, C. C.
Ong, S. K.
Nee, Andrew Y. C.
Date Issued
January 2005
Series/Report no.
Innovation in Manufacturing Systems and Technology (IMST);
Abstract
This paper presents the research and development of a 3-legged micro Parallel Kinematic Manipulator (PKM) for positioning in micro-machining and assembly operations. The structural characteristics associated with parallel manipulators are evaluated and the PKMs with translational and rotational movements are identified. Based on these identifications, a hybrid 3-UPU (Universal Joint-Prismatic Joint-Universal Joint) parallel manipulator is designed and fabricated. The principles of the operation and modeling of this micro PKM is largely similar to a normal size Stewart Platform (SP). A modular design methodology is introduced for the construction of this micro PKM. Calibration results of this hybrid 3-UPU PKM are discussed in this paper.
Subjects
Micro parallel kinematic manipulator
modular design
Stewart Platform
workspace simulation
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