{"title":"柔性Stewart微机械臂的设计与运动学研究","authors":"S. Mishra, C. S. Kumar","doi":"10.1109/MARSS.2018.8481200","DOIUrl":null,"url":null,"abstract":"In this paper, a novel compliant model of Stewart platform is designed and analyzed. The literature shows that there is a need for micromanipulators having 6-DOF with high range of motions and low parasitic motion. A novel design for Stewart platform is developed for micromanipulation applications. The inverse kinematics with the help of pseudo-rigid-body model (PRB model) of the micromanipulator is formulated and solved. FEA simulations are carried out to know the 6-DOF motion capability of the micromanipulator. In the end, the dynamic performance of the FE model of the micromanipulator is presented.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Design and Kinematics of a Compliant Stewart Micromanipulator\",\"authors\":\"S. Mishra, C. S. Kumar\",\"doi\":\"10.1109/MARSS.2018.8481200\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, a novel compliant model of Stewart platform is designed and analyzed. The literature shows that there is a need for micromanipulators having 6-DOF with high range of motions and low parasitic motion. A novel design for Stewart platform is developed for micromanipulation applications. The inverse kinematics with the help of pseudo-rigid-body model (PRB model) of the micromanipulator is formulated and solved. FEA simulations are carried out to know the 6-DOF motion capability of the micromanipulator. In the end, the dynamic performance of the FE model of the micromanipulator is presented.\",\"PeriodicalId\":118389,\"journal\":{\"name\":\"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MARSS.2018.8481200\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MARSS.2018.8481200","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Design and Kinematics of a Compliant Stewart Micromanipulator
In this paper, a novel compliant model of Stewart platform is designed and analyzed. The literature shows that there is a need for micromanipulators having 6-DOF with high range of motions and low parasitic motion. A novel design for Stewart platform is developed for micromanipulation applications. The inverse kinematics with the help of pseudo-rigid-body model (PRB model) of the micromanipulator is formulated and solved. FEA simulations are carried out to know the 6-DOF motion capability of the micromanipulator. In the end, the dynamic performance of the FE model of the micromanipulator is presented.
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