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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
Published on: January 7, 2019
Design, modeling, and testing of a one degree of freedom manipulator with three-stage amplification mechanism
Z Y Guo1, W C Zhang2, Y L Tian3
1College of Aeronautical Engineering, Civil Aviation University of China, Tianjin 300300, China.
Abstract:
The one degree of freedom (1-DOF) manipulator with nano-resolution is a significant component in the micro-/nano-manipulation. In order to simultaneously achieve a large stroke and high precision, a piezo-driven 1-DOF flexure-based manipulator consisting of an enhanced double Scott-Russell mechanism (EDSRM), a lever type mechanism, and a Z-shaped mechanism is proposed in this paper. Analytical models are developed to examine the kinetostatic and dynamic properties of the manipulator. A finite element analysis is further performed to evaluate the characteristics of the EDSRM and the complete manipulator. The prototype is fabricated on monolithic AL7075, and various experimental tests have been carried out to investigate the correctness of the modeling. The experimental results show that the proposed manipulator has a satisfactory amplification ratio, static stability, and dynamic performance.
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