The Research On Micro3Fingers Series-parallel Manipulator

Micro-manipulator which is composed of flexure joints is widely used in occasionsthat have high precision requirement. In recent years, an increasing number of fields involvemicro-manipulator, such as cell manipulation, medical surgery, aerospace, etc. Theemergence of series-parallel robot booms the development of micro-manipulator to a newlevel. It becomes an important subject how to design an optimized micro-manipulatorstructure which is more stable, diverse and smart. The flexure hinge design is the decisivefactor of micro-manipulator performance.This paper presents the micro3fingers series-parallel manipulator. The macro model isdesigned first and the active and controller are selected, on which the normal joint isreplaced by flexure hinge; meanwhile the equivalent flexure joint and manipulator modelare optimized gradually and then the final model is formed. It contains equivalent joints, forexample,3-semi-circle flexure hinge, parallelogram prismatic joint, straight-circle flexurehinge revolute joint, wire flexure spherical joint, etc.The flexure hinge structure is novel, which adopts a material mechanics analysis method:3-semi-circle flexure hinge prismatic joint, parallelogram prismatic joint, straight-circleflexure hinge revolute joint and the stiffness of wire flexure spherical joint; the relationbetween finger active input displacement and the finger point output displacement. It issolved by robotics and material mechanics: the relation between finger active input forceand finger point load; the stress condition when the active of flexure model inputs strengthand the pose of the manipulator; statics of the whole model.Moreover, the finite element analysis（FEA）is adopted to check the size and rationalityof the model and the correctness of the theoretical analysis.