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The constant-Jacobian method for kinematics of a three-DOF planar micro-motion stage. (English) Zbl 1114.70304
Summary: This paper concerns the development of a class of devices that generate end-effector motion in the range of less than 100 \(\mu\)m and with sub-nanometer resolution; in particular, a parallel manipulator configuration that generates a planar \(x-y-\gamma\) motion is considered. The parallel manipulator is implemented as a compliant mechanism. A problem with parallel manipulators is that the forward kinematics is usually too complex, which can hinder the implementation of advanced control algorithms. The contribution of this paper is that a simple method, called the constant-Jacobian (CJ) method, is developed based on the pseudo-rigid body (PRB) approach to compliant mechanisms. The experiment validates the CJ method.

MSC:
70B15 Kinematics of mechanisms and robots
70-08 Computational methods for problems pertaining to mechanics of particles and systems
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