Rigid 6 × 6 parallel platform for precision 3-D micromanipulation: Theory and design application

Vladimir T. Portman; Ben Zion Sandler; Eliahu Zahavi

doi:10.1109/70.897775

Rigid 6 × 6 parallel platform for precision 3-D micromanipulation: Theory and design application

Vladimir T. Portman, Ben Zion Sandler, Eliahu Zahavi

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

33 Scopus citations

Abstract

A new type of 6 × 6 parallel platform mechanism - designated a "rigid platform" - characterized by very high stiffness and a high degree of accuracy is described. Two new structural concepts are proposed for obtaining high stiffness and accuracy. 1) The joints between the changeable links and the platform and between the changeable links and the base are designed as welded joints. 2) Microactuators for controlled elongation of the legs use controlled longitudinal elastic deformations of the legs. Four possible approaches for analysis of the kinematics of this mechanism are described: infinitesimal kinematics of a classical platform and of a modified classical platform, the finite-elements method, and an identification procedure. Experimental investigations of a pilot setup of the proposed platform confirmed the predictions concerning the accuracy and stiffness of the proposed device.

Original language	English
Pages (from-to)	629-643
Number of pages	15
Journal	IEEE Transactions on Robotics and Automation
Volume	16
Issue number	6
DOIs	https://doi.org/10.1109/70.897775
State	Published - 1 Dec 2000

Keywords

Displacement measurements
Error compensation
Microactuator
Position control

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/70.897775

Cite this

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abstract = "A new type of 6 × 6 parallel platform mechanism - designated a {"}rigid platform{"} - characterized by very high stiffness and a high degree of accuracy is described. Two new structural concepts are proposed for obtaining high stiffness and accuracy. 1) The joints between the changeable links and the platform and between the changeable links and the base are designed as welded joints. 2) Microactuators for controlled elongation of the legs use controlled longitudinal elastic deformations of the legs. Four possible approaches for analysis of the kinematics of this mechanism are described: infinitesimal kinematics of a classical platform and of a modified classical platform, the finite-elements method, and an identification procedure. Experimental investigations of a pilot setup of the proposed platform confirmed the predictions concerning the accuracy and stiffness of the proposed device.",

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AU - Sandler, Ben Zion

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AB - A new type of 6 × 6 parallel platform mechanism - designated a "rigid platform" - characterized by very high stiffness and a high degree of accuracy is described. Two new structural concepts are proposed for obtaining high stiffness and accuracy. 1) The joints between the changeable links and the platform and between the changeable links and the base are designed as welded joints. 2) Microactuators for controlled elongation of the legs use controlled longitudinal elastic deformations of the legs. Four possible approaches for analysis of the kinematics of this mechanism are described: infinitesimal kinematics of a classical platform and of a modified classical platform, the finite-elements method, and an identification procedure. Experimental investigations of a pilot setup of the proposed platform confirmed the predictions concerning the accuracy and stiffness of the proposed device.

KW - Displacement measurements

KW - Error compensation

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KW - Position control

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Rigid 6 × 6 parallel platform for precision 3-D micromanipulation: Theory and design application

Abstract

Keywords

ASJC Scopus subject areas

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