A Novel 3-DOF Translational Micromanipulation Parallel Manipulator for Vibration Control of Crystal Oscillators
نویسندگان
چکیده
This paper presents a novel 3-DOF translational micromanipulating parallel manipulator with single type of linear driving and six passive joints. It is chiefly characterized by the constant Jacobian matrix between the input and output. It also has straightforward inverse and forward kinematics, which facilitate the implementation of real-time control. Aiming at the vibration control purpose for a crystal oscillator in electronic equipments, the compactness of the manipulator is also considered and accomplished in the dimension of 75 mm × 67 mm × 25 mm. We finally achieved the 50 Hz 3DOF translational motions within ± 2 mm × ± 2 mm × ± 2 mm and validated the design with computational simulation. Copyright © 2014 IFSA Publishing, S. L.
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