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A compliant-mechanism-based three degree-of-freedom manipulator for small-scale manipulation

Published online by Cambridge University Press:  01 January 2000

John Speich  and
Michael Goldfarb
John Speich
Affiliation:
Department of Mechanical Engineering, Vanderbilt University, Box 1592, Station B, Nashville, TN 37235 (USA)
Michael Goldfarb
Affiliation:
Department of Mechanical Engineering, Vanderbilt University, Box 1592, Station B, Nashville, TN 37235 (USA)
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Abstract

This paper describes the design of a small-scale three degree-of-freedom compliant-mechanism-based manipulator with an approximately 2 cm×2 cm×2 cm cubic workspace. The manipulator exhibits a significantly larger range of motion and better spatial structural properties than a conventional compliant mechanism, due primarily to a unique flexure joint developed by the authors. A brief description of the mechanics of the flexure joint is followed by a description of the design of the manipulator. Following the mechanical description, the design of the low-level manipulator controller is discussed. Finally, data is presented that demonstrates manipulator performance.

Keywords

Compliant mechanismFlexure jointManipulator controllerSmall-scale manipulation
Type
Research Article
Information
Robotica , Volume 18 , Issue 1 , January 2000 , pp. 95 - 104
Copyright
© 2000 Cambridge University Press

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