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Publication Citation: Kinematic Modeling of a 6-Degree of Freedom Tri Stage Micro-Positioner

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Author(s): Nicholas G. Dagalakis; E Amatucci;
Title: Kinematic Modeling of a 6-Degree of Freedom Tri Stage Micro-Positioner
Published: November 01, 2001
Abstract: The 6-Degree of Freedom Tri Stage Micro Positioner (6DFTSMP) can generate high accuracy, small displacement, and high-resolution motions. The moving platform of the device has six degrees (6-D) of freedom motions (translation and rotation about three orthogonal axes, X-Y-Z). The 6DFTSMP is unique because it derives its input motion from a monolithic tri-stage base plate and has struts with specially designed flexures. The 6DFTSMP capitalizes on the availability of inexpensive high quality planar micro-positioning stages for the control of its moving platform. Because the struts, which connect the planar micro positioning stages with the moving platform are oriented in a parallel mechanism fashion the in plane motion of the stages is converted into a translation and rotation about three orthogonal axes. Two experimental prototypes of the 6DFTSMP have been built and various mathematical models have been developed. A micro-position and orientation measurement sensor nest has been developed, which will be used to test various calibration and performance testing methods for this type of micro-positioners.
Conference: Proceedings of the American Society for Precision Engineering
Proceedings: American Society for Precision Engineering, Annual Meeting | 16th | Proceedings of ASPE 16th Annual Meeting | ASPE
Volume: 16
Dates: November 10-15, 2001
Keywords: flexures,kinematic,micro-positioner,model
Research Areas:
PDF version: PDF Document Click here to retrieve PDF version of paper (164KB)