Design and Experimental Testing of an Improved Large-Range Decoupled XY Compliant Parallel Micromanipulator

摘要

There is an increasing need for XY compliant parallel micromanipulators (CPMs) providing good performance characteristics such as large motion range, well-constrained cross-axis coupling, and parasitic rotation. Decoupled topology design of the CPMs can easily realize these merits without increasing the difficulty of controlling. This paper proposes an improved 4-PP model on the basis of a classical 4-PP model and both of them are selected for manufacturing and testing to verify the effectiveness of the improvement. It has shown from experimental results that there is a large improvement on the performances of improved 4-PP compliant parallel manipulator (CPM): large range of motion up to 5 mm x 5 mm in the unidirection in the dimension of 311 mm x 311 mm x 24 mm, smaller compliance fluctuation (only 36.63% of that of the initial 4-PP model), smaller cross-axis coupling (only 28.10% of that of the initial 4-PP model generated by a single-axis 5 mm actuation), smaller in-plane parasitic yaw (only 57.14% of that of the initial 4-PP model generated by double-axis 5 mm actuation).