Design And Research Of A Micromanipulator With Alterable Amplification

In this paper an XY parallel manipulator with alterable amplification was proposed foracquiring lager workspace and high resolution at the same time. Complaint hinges andpiezoelectric actuators are selected to pursue high accuracy and high resolution. And leverageamplifiers are introduced to pursue larger travel range. However, the introduction of theamplifiers reduced the resolution of the manipulator that the actuators provided. To resolvethis conflict, a kind of novel leverage amplifiers with switchable fulcra was introduced in thispaper. The amplifiers can change their amplification ratio during the operation process andmake full use of the high resolution of the piezoelectric actuators.As an improvement or complement in mathematics for the complaint matrix theory, inChapter three, a dimension-reduce then dimension-increase method was proposed to modelsymmetrical closed-loop leverage structures. And it also provided a new idea to deal withgeneral closed-loop structures. Besides, a matrix equation method was introduced in Chapterfour for acquiring more accurate results while computing the matrices. The accuracy of thetwo methods were validated by finite-element analysis.