Design and Modeling of an Active Five-Axis Compliant Micromanipulator

Jayanth, GR and Menq, CH (2014) Design and Modeling of an Active Five-Axis Compliant Micromanipulator. In: JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 6 (4).

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Abstract

This paper presents the design and modeling of an active five-axis compliant micromanipulator whose tip orientation can be independently controlled by large angles about two axes and the tip-position can be controlled in three dimensions. These features enable precise control of the contact point of the tip and the tip-sample interaction forces with three-dimensional nanoscale objects, including those features that are conventionally inaccessible. Control of the tip-motion is realized by means of electromagnetic actuation combined with a novel kinematic and structural design of the micromanipulator, which, in addition, also ensures compatibility with existing high-resolution motion-measurement systems. The design and analysis of the manipulator structure and those of the actuation system are first presented. Quasi-static and dynamic lumped-parameter (LP) models are then derived for the five-axis compliant micromanipulator. Finite element (FE) analysis is employed to validate these models, which are subsequently used to study the effects of tip orientation on the mechanical characteristics of the five-axis micromanipulator. Finally, a prototype of the designed five-axis manipulator is fabricated by means of focused ion-beam milling (FIB).

Item Type:	Journal Article
Publication:	JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
Publisher:	ASME
Additional Information:	Copy right for this article belongs to the ASME, TWO PARK AVE, NEW YORK, NY 10016-5990 USA
Department/Centre:	Division of Physical & Mathematical Sciences > Instrumentation Appiled Physics
Date Deposited:	14 Nov 2014 07:25
Last Modified:	14 Nov 2014 07:25
URI:	http://eprints.iisc.ac.in/id/eprint/50248

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