Design And Analysis Of A New 3-RPC Parallel Micromanipulator

With the development of science and technology, more and more people are payingattention on micromanipulator. As it has wildly application prospect and huge developingpotential, so it is very important to design a new micromanipulator which can satisfyspecial request.In this paper, based on 3-RPC parallel mechanism, a new micromanipulator driven bypiezoelectric ceramic actuator is designed and analyzed. The details are as follows:3-RPC parallel mechanism which has three translational DOF is chosen as basicmechanism. According to thought that kinematic pairs of rigid mechanism is substitutedby flexure ones to achieve micro movement, firstly, flexure revolute pairs and translationalpairs which are the basic element constituting 3-RPC parallel micromanipulator arechosen, then, combining different pose of 3-RPC parallel mechanism, the orthogonal poseis chosen for the original model, finally, based on the original model and go through thesimulation and optimization process, the modified model of 3-RPC parallelmicromanipulator is generated.As research basis of 3-RPC micromanipulator, its inverse kinematics and forwardkinematics are analyzed. Fully considering the characteristic of manipulator, usingHomogeneous transformation method, by abstracting and simplifying, get the inversekinematics of 3-RPC micromanipulator, and the forward kinematics is deduced insuccession. Inverse and forward kinematics solutions establish foundation for itsdynamical analysis.The stiffness modeling for a parallel micromanipulator is very important since itprovides a basis for its characterization of static, modal, and dynamic behavior. Adopted asimple transformation matrix to analyze 3-RPC parallel micromanipulator stiffness model,moreover, the finite element analysis is carried out to validate the established stiffnessmodel. With consideration of the influence of architectural parameter of the 3-RPC onstiffness model, using Matlab software plot the relationship picture between architecturalparameter and siffness, all the work above establish foundation for its optimizationanalysis. Based on lagrange dynamic equation, the dynamic model of the 3-RPC parallelmicromanipulator is established; moreover, the modal of the 3-RPC is conducted based onthe above work, the natural frequency of the 3-RPC is calculated. The natural frequencyprovides guidelines for the selection of control frequency of the 3-RPC.Based on the working principle of piezoelectric actuator, according the relationbetween input voltage and output displacement or output force, preliminarily design thecontrol system of 3-RPC micromanipulator.