A compact large-range six-degrees-of-freedom (six-DOF) parallel positioning system with high resolution, high resonant frequency, and high repeatability was proposed. It mainly consists of three identical kinematic sections. Each kinematic section consists of two identical displacement amplification and guiding mechanisms, which are finally connected to a limb. Each limb was designed with a universal joint at each end and connected to a moving stage. A computational model of the positioner was built in the ANSYS software package, hence, the input stiffness, output compliance, range, and modal analysis of the system were found. Furthermore, a monolithic prototype made of Acrylonitrile Butadiene Styrene (ABS) was successfully manufactured by the 3D-printing process. It was actuated and sensed by piezoelectric actuators (PEAs) and capacitive displacement sensors, respectively. Finally, the performances of this proposed positioner were experimentally investigated. The positioning resolution was achieved as 10.5nm {\times} 10.5nm {\times} 15nm {\times} 1.8{\mu}rad {\times} 1.3{\mu}rad {\times} 0.5{\mu}rad. The experimental results validate the behavior and capabilities of the proposed positioning system, and also verify the nanometer-scale spatial positioning accuracy within the overall stroke range. Practical applications of the proposed system can be expanded to pick-and-place manipulation, vibration-canceling in microsurgery/micro-assembly, and collaborative manipulators systems.
翻译:提出了一个高分辨率、高共振频率和高重复性高的大型六度自由(6-DOF)平行定位系统。它主要由三个相同的运动部分组成。每个运动部分由两个相同的流离失所放大和指导机制组成,它们最终与肢体相连。每条肢体的设计都是在每端有一个通用的联合,并与移动阶段连接。一个定位器的计算模型是在ANSYSS软件包中建立的,因此发现了系统的投入坚固度、产精度、射程和模式分析。此外,一个由Acryronitle Butadiene Styrene(ABS)组成的单一原型是由3D打印过程成功地制造的。它分别由派电动动动动动动动动动动动动动和电动迁移传感器操作。最后,这个拟议的定位器的性能是实验性地调查。定位分辨率是10.5nm=10m=10m=10m=10m=10m=10m=时间。一个直径的直径(AL-rodery_roal)系统(AL-roderyal)的精确性原型)系统、1.5-roderyal-rolial-rocal-rocal-roal-rocal-rol)的精确运行能力能力,以及整个系统的18xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx