Publication

Hanyang University HumanRobotics Lab

International Conference
Design and analysis of a spatial 3-DOF micromanipulator for tele-operation
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems
Author
G. B. Chung, B. -J. Yi, I. H. Suh, W. K. Kim, and W. K. Chung
Year
2001
Date
2001.10.29
File
[2001]Design and analysis of a spatial 3-DOF micromanipulator for tele-operation.pdf (604.5K) 0회 다운로드 DATE : 2020-10-17 19:38:38
In this paper, we propose and develop a spatial 3-DOF tele-micromanipulator for precise position control of micro-objects. Typical feature of this device is a one-module flexure hinge that consists of a revolute joint and a spherical joint. Based on preliminary kinematic analysis and stiffness modeling of the system, optimal design and actuator sizing for the device are performed. Furthermore, FEM analysis and resonant frequency analysis are executed to validate the results of analytic design process. The designed device was successfully implemented to tele-micromanipulation system.