A compliant-mechanism-based three degree-of-freedom manipulator for small-scale manipulation
- Resource Type
- Article
- Authors
- Speich, John; Goldfarb, Michael
- Source
- Robotica; January 2000, Vol. 18 Issue: 1 p95-104, 10p
- Subject
- Language
- ISSN
- 02635747; 14698668
This paper describes the design of a small-scale three degree-of-freedom compliant-mechanism-based manipulator with an approximately 2 cm×2 cm×2 cm cubic workspace. The manipulator exhibits a significantly larger range of motion and better spatial structural properties than a conventional compliant mechanism, due primarily to a unique flexure joint developed by the authors. A brief description of the mechanics of the flexure joint is followed by a description of the design of the manipulator. Following the mechanical description, the design of the low-level manipulator controller is discussed. Finally, data is presented that demonstrates manipulator performance.