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Optimal design of a micro parallel positioning platform. Part I: Kinematic analysis

Published online by Cambridge University Press:  15 November 2004

Kun-Ku Oh ,
Xin-Jun Liu ,
Deuk Soo Kang  and
Jongwon Kim
Kun-Ku Oh
Affiliation:
School of Mechanical and Aerospace Engineering, Seoul National University, Seoul 151-744 (Republic of Korea)
Xin-Jun Liu
Affiliation:
School of Mechanical and Aerospace Engineering, Seoul National University, Seoul 151-744 (Republic of Korea)
Deuk Soo Kang
Affiliation:
School of Mechanical and Aerospace Engineering, Seoul National University, Seoul 151-744 (Republic of Korea)
Jongwon Kim
Affiliation:
School of Mechanical and Aerospace Engineering, Seoul National University, Seoul 151-744 (Republic of Korea)
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Abstract

Using a coarse-and-fine actuator combination (dual stage system), a new design of the three degree-of-freedom (DOF) micro parallel positioning platform with high mobility, high accuracy, and a large working space is proposed. To achieve these three DOFs and implement the dual stage system, there are six possible architectures for the coarse and fine actuators, respectively. This paper is organized in two parts. Part I treats the kinematic analysis of each architecture and the problem of selecting the correct coarse actuator architecture. Inverse kinematics and Jacobian matrices for six types of coarse actuator architectures are derived and one proper coarse actuator architecture is selected based on the mobility (rotational capability) analysis, condition number evaluation of the Jacobian matrix, and manufacturability consideration. Part II on real machine design will follow in the next issue of Robotica.

Keywords

Parallel mechanismMicro positioning platformDual stage systemKinematics
Type
Research Article
Information
Robotica , Volume 22 , Issue 6 , November 2004 , pp. 599 - 609
Copyright
© 2004 Cambridge University Press

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