Computational analyses are performed to validate the established kinematics models. With circular flexure hinges being treated as revolute joints, the forward kinematics and inverse kinematics of the 3-DOF manipulator are analytically derived. As a result, the linearity of motion and stability are improved. Unlike the SR mechanism, a set of leaf parallelograms is incorporated into the drive point of the ISR mechanism as a prismatic joint. An improved Scott-Russell (ISR) mechanism is utilized to magnify the displacement of the piezoelectric actuator (PEA). This manipulator is capable of performing planar manipulations with three kinematically coupled DOFs, i.e., the translations in the X and Y axes and the rotation about the Z axis. The reachable workspace and the static/dynamic characteristics of the 3-DOF manipulator are also analyzed.ĪB - This paper proposes the design of a novel 3-DOF monolithic manipulator. This is the main cause of the discrepancies between the analytical and computational results. Due to the unwanted compliance of the flexure hinges, the actual displacement amplification ratio of the ISR mechanism is smaller than its theoretical value. N2 - This paper proposes the design of a novel 3-DOF monolithic manipulator. T1 - Design and kinematics modeling of a novel 3-DOF monolithic manipulator featuring improved scott-russell mechanisms The reachable workspace and the static/dynamic characteristics of the 3-DOF manipulator are also analyzed.",
The reachable workspace and the static/dynamic characteristics of the 3-DOF manipulator are also analyzed.Ībstract = "This paper proposes the design of a novel 3-DOF monolithic manipulator.
This paper proposes the design of a novel 3-DOF monolithic manipulator.