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A new three degrees of freedom (3-DOF) translational parallel manipulator (TPM) with fixed actuators called a 3-PRC TPM is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analysis are performed and the singular and isotropic configurations are identified(More)
— In this paper, a global sliding mode control (GSMC) scheme is implemented on a piezo-driven XY parallel micropositioning stage to compensate for the unmodeled hys-teresis aiming at a sub-micron accuracy motion tracking control. The GSMC controller is designed with the consideration of all uncertainty bounds. In the controller implementation, a high-gain(More)
—In this paper, a concept of totally decoupling is proposed for the design of a flexure parallel micromanipulator with both input and output decoupling. Based on flexure hinges, the design procedure for an XY totally decoupled parallel stage (TDPS) is presented, which is featured with decoupled actuation and de-coupled output motion as well. By employing(More)
—This paper proposes an improved sliding mode control with perturbation estimation (SMCPE) featuring a PID-type sliding surface and adaptive gains for the motion tracking control of a micromanipulator system with piezoelectric actuation. One advantage of the proposed controller lies in that its implementation only requires the online estimation of(More)
— A new three degrees of freedom translational parallel manipulator (TPM) with fixed actuators, called a general 3-PRC TPM, is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analysis are performed and the singularity problems are investigated after-wards, which(More)
SUMMARY A novel 3-DOF prismatic-revolute-cylindrical (PRC) trans-lational compliant parallel micromanipulator (CPM) has been designed for 3-D nanomanipulation in this paper. The system is configured by a proper selection of hardware and analyzed via the established pseudo-rigid-body (PRB) model. The CPM workspace is determined taking into account the(More)
SUMMARY In this paper, the optimization of architectural parameters for a class of translational parallel kinematic machine (PKM) is performed with the particle swarm optimization (PSO) to achieve the best accuracy characteristics. The conventional error transformation matrix (ETM) is derived based on the differentiation of kinematic equations, and a new(More)