Design and Development of 3-DOF Modular Micro Parallel Kinematic Manipulator
Author(s)Ng, C. C.; Ong, S. K.; Nee, Andrew Y. C.
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.
Innovation in Manufacturing Systems and Technology (IMST);
Micro parallel kinematic manipulator, modular design, Stewart Platform, workspace simulation