This paper introduces a parametric design of a new 3D compliant parallel manipulator based on pantograph linkage for micro/nano applications. Furthermore, the modal
shapes and natural frequencies analysis are carried out versus
the flexure joint parameters which are a crucial point for the
controller selection/design and geometry optimization. The new
compliant manipulator provides decoupled 3DOF translational
motion with fixed orientation of the end effector and it has significantly high workspace to size ratio. The modified
manipulator aims to enlarge the workspace by enhancing
the values of magnification factors of input motion and by
reducing the parasitic motion and geometric stiffening of the
original manipulator. The main parameters that affect the
performance of the compliant manipulator are determined
based on the generated results of finite element analysis which is
performed using ANSYS software. The results have successfully
demonstrated the improvements of the proposed manipulator in
terms of workspace size, magnification factors, joint stiffening
and parasitic motions. |
