0
TECHNICAL BRIEFS

Modal Simulation and Testing of a Micro-Manipulator

[+] Author and Article Information
Yongjun Lai, Marek Kujath, Ted Hubbard

Mechanical Engineering Department,  Dalhousie University, Halifax, Nova Scotia, B3J 2X4, Canada

J. Dyn. Sys., Meas., Control 127(3), 515-519 (Nov 07, 2004) (5 pages) doi:10.1115/1.1978907 History: Received May 29, 2003; Revised November 07, 2004

A micro-machined manipulator with three kinematic degrees-of-freedom (DOF): x, y, and φ is presented. The manipulator is driven by three thermal actuators. A six DOF discrete spring-mass model of the compliant mechanism is developed which manifests the dynamic properties of the device. Numerical simulations are compared with experimental results.

FIGURES IN THIS ARTICLE
<>
Copyright © 2005 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

The layout of the micro manipulator showing three actuators and the central platform

Grahic Jump Location
Figure 2

Structure of the S-joint and its model

Grahic Jump Location
Figure 3

Delta Thermal Actuator: (a) Mass Center location, (b) Kinematic models of flexures

Grahic Jump Location
Figure 4

A 6-elastic-DOF Model of the Manipulator

Grahic Jump Location
Figure 5

Different combinations of driving motors

Grahic Jump Location
Figure 6

Frequency response spectrum generated by a-drive (Fig. 5)

Grahic Jump Location
Figure 7

Frequency response spectrum excited by bc-drive (Fig. 5)

Grahic Jump Location
Figure 8

Frequency response spectrum excited by abc-drive (Fig. 5)

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In