Design and analysis of a novel large-range 3-DOF compliant parallel micromanipulator

• Published in: Advances in mechanical engineering Vol. 13; no. 12; p. 168781402110344
• Main Authors: Gao, Jinhai, Han, Xiaoqiang, Hao, Lina, Chen, Ligang
• Format: Journal Article
• Language: English
• Published: London, England SAGE Publications 01.12.2021; Sage Publications Ltd; SAGE Publishing
• Subjects: Cross coupling; Integrated circuits; Micromanipulation; Parallel degrees of freedom; Topology; Micromanipulator; compliant; cross-axis coupling; nonlinear control; large range
• ISSN: 1687-8132; 1687-8140; 1687-8140
• DOI: 10.1177/16878140211034444

Compared with the traditional rigid mechanism, the flexible mechanism has more advantages, which play an important role in critical situations such as microsurgery, IC (integrated circuit) fabrication/detection, and some precision operating environment. Especially, there is an increasing need for 3-DOF (degrees-of-freedom) compliant translational micro-platform (CTMP) providing good performance characteristics with large motion range, low cross coupling, and high spatial density. Decoupled topology design of the CTMP can easily realize these merits without increasing the difficulty of controlling. This paper proposes a new three DOF compliant hybrid micromanipulator which have large range of motion up to 100 μm × 100 μm × 100 μm in the direction in the dimension of 90 mm × 90 mm × 50 mm, smaller cross-axis coupling (the max coupling only 2.5%) than the initial XY compliant platform in XY axial.