Force Relationships for an XYZ Micromanipulator With Three Translational Degrees of Freedom

2004 ◽  
Author(s):  
Kimberly A. Jensen ◽  
Craig P. Lusk ◽  
Larry L. Howell
Keyword(s):  
Rigid Body ◽  
Degrees Of Freedom ◽  
Input Output ◽  
Force Analysis ◽  
Displacement Analysis ◽  
Input Force ◽  
Output Force ◽  
Out Of Plane ◽  
Plane Displacement

This paper introduces the force analysis of the XYZ Micromanipulator (XYZM). The XYZM has three independent linear inputs and a positioning platform. The positioning platform remains horizontal throughout its motion and has translation in the x, y, and z directions. The design and displacement analysis for the XYZM was reported previously. This paper concentrates on the input-output force relationships and the derivation of the XYZM kinematic coefficients. Equations for the three versions of the XYZM are reported and sample results provided. Slider displacements of 45 micrometers result in a predicted out-of-plane displacement of 188 micrometers for the rigid-body XYZM and 262 micrometers for the compliant XYZM. This correlates to output force of 286 micronewtons with an input force of 150 micronewtons for the rigid-body XYZM and 261 micronewton output force with an input force of 150 micronewtons for the compliant XYZM.

scholarly journals An XYZ Micromanipulator with three translational degrees of freedom

Robotica ◽  
2006 ◽  
Vol 24 (3) ◽  
pp. 305-314 ◽  
Author(s):  
Kimberly A. Jensen ◽  
Craig P. Lusk ◽  
Larry L. Howell
Keyword(s):  
Rigid Body ◽  
Degrees Of Freedom ◽  
Degree Of Freedom ◽  
Surface Micromachining ◽  
Out Of Plane ◽  
Plane Displacement ◽  
Three Degree Of Freedom

This paper introduces a three degree of freedom XYZ Micromanipulator (XYZM) that is fabricated in the $x$-$y$ plane and positions components in the $x$, $y$, and $z$ directions using three independent linear inputs. The mechanism positions components on a platform using three legs, each composed of a slider mechanism and a parallelogram mechanism.Three versions of the XYZM were fabricated and tested using surface micromachining processes: the rigid-body, offset, and compliant XYZM. Slider displacements of 45 micrometers result in a predicted out-of-plane displacement of 188 micrometers for the rigid-body XYZM, 205 micrometers for the offset XYZM, and 262 micrometers for the compliant XYZM.

scholarly journals High-Output Micro-Machined Electrostatic Actuators

2021 ◽  
Author(s):  
Amin Abbasalipour ◽  
Prithviraj Palit ◽  
Sepehr Sheikhlari ◽  
Siavash Pakdelian ◽  
Siavash Pourkamali
Keyword(s):  
Axial Force ◽  
Bending Moment ◽  
Cross Sectional ◽  
Electrostatic Actuators ◽  
New Class ◽  
Output Force ◽  
Mems Actuators ◽  
Out Of Plane ◽  
Animal Muscle ◽  
Plane Displacement

Abstract This work presents a new class of micromachined electrostatic actuators capable of producing output force and displacement unprecedented for MEMS actuators. The actuators feature submicron high aspect ratio transduction gaps lined up in two-dimensional arrays inspired by the cellular structure of animal muscle tissue. Such arrangement of micro-scale actuator cells, allows addition of force and displacements of a large number of cells (up to 7600 in one array demonstrated), leading to displacements in the hundreds of microns range and several gram-forces of axial force. For 50 µm thick actuators with horizontal dimensions in the 1-4 millimeters range, out of plane displacement of up to 678 µm, bending moment of up to 2.0 µNm i.e. 0.08 N (~8 gram-force) of axial force over the 50 µm by 2 mm cross-sectional area of the actuator (800 kPa of electrostatically generated stress), and energy density (mechanical work output per stroke per volume) up to 1.42 mJ/cm3 have been demonstrated for the actuators.

Closed-Form Displacement Analysis of 9-Link, 2-DOF and 10-Link, 3-DOF Mechanisms

1996 ◽  
Author(s):  
Abdulaziz N. Almadi ◽  
Anoop K. Dhingra ◽  
Dilip Kohli
Keyword(s):  
Closed Form ◽  
Degrees Of Freedom ◽  
Computational Procedure ◽  
Companion Paper ◽  
Input Output ◽  
Analysis Problem ◽  
Numerical Examples ◽  
Displacement Analysis ◽  
Kinematic Chains ◽  
Solvable In Closed Form

Abstract This paper addresses the closed-form displacement analysis problem of all mechanisms which can be derived from 9-link kinematic chains with 2-DOF, and 10-link kinematic chains with 3-DOF. The successive elimination procedure developed in the companion paper is used to solve the resulting displacement analysis problems. The input-output polynomial degrees as well as the number of assembly configurations for all mechanisms resulting from 40 9-link kinematic chains, and 74 10-link kinematic chains with non-fractionated degrees of freedom (DOF) are given. The computational procedure is illustrated through two numerical examples. The displacement analysis problem for all mechanisms resulting from these chains is completely solvable, in closed-form, devoid of any spurious roots.

scholarly journals Input/Output Force Analysis of Parallel Link Manipulator.

1994 ◽  
Vol 60 (575) ◽  
pp. 2338-2344 ◽  
Author(s):  
Kazuhiro Kosuge ◽  
Minoru Okuda ◽  
Hiroyuki Kawamata ◽  
Toshio Fukuda ◽  
Toshiki Kozuka ◽  
...  
Keyword(s):  
Input Output ◽  
Force Analysis ◽  
Output Force ◽  
Parallel Link

Rigid-body translation (RBT) of a NiO-ZrO2(cubic) bicrystal and its implications for interface atomic structure

1996 ◽  
Vol 54 ◽  
pp. 116-117
Author(s):  
E. C. Dickey ◽  
V.P. Dravid
Keyword(s):  
Rigid Body ◽  
Orientation Relationship ◽  
Atomic Structure ◽  
Degrees Of Freedom ◽  
Low Energy ◽  
Interface Plane ◽  
Internal Interface ◽  
Crystalline Materials ◽  
Out Of Plane ◽  
Z Contrast

Any internal interface between two crystalline materials can be described by five macroscopic and three microscopic degrees of freedom. The five macroscopic, or geometric, degrees of freedom describe the relative orientations of the two crystalline lattices and interface plane. For the case of low-energy NiO-ZrO2 boundaries this is defined by the orientation relationship: NiO(111)//ZrO2(100), NiO[110]//ZrO2[010]. The three microscopic degrees of freedom describe the relative in-plane and out-of-plane RBT (Tx,Ty,Tz); these RBTs are geometric mechanisms by which the interface can relax to a low-energy configuration. The combination of these eight degrees of freedom describes completely the bicrystallography. This paper investigates the RBT associated with NiO-ZrO2 interfaces as measured from HREM and Z-contrast images (see fig. 1).

Temperature Dependence of the Rigid-Body Motion of Anthraquinone

1998 ◽  
Vol 54 (3) ◽  
pp. 308-315 ◽  
Author(s):  
Y. Fu ◽  
C. P. Brock
Keyword(s):  
Rigid Body ◽  
Temperature Dependence ◽  
Cross Sections ◽  
Large Amplitude ◽  
Rigid Body Motion ◽  
Body Motion ◽  
Internal Vibration ◽  
Use Of Data ◽  
Out Of Plane ◽  
Plane Displacement

Anthraquinone has been studied at five temperatures between 296 and 162 K. The unsatisfactory agreement factors obtained in earlier studies probably resulted from the use of data collected from twinned crystals; needle-like crystals with approximately equidimensional cross sections are usually contact twins related by reflection across (102¯). The temperature dependence of the T and L tensors is normal. The out-of-plane displacement parameters of the O atom indicate a large-amplitude internal vibration.

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