Abstract
A new three-degree-of-freedom (3-DOF) compli- ant parallel manipulator (CPM) has been proposed for 3-D nanomanipulation in this paper. The system is constructed by a proper selection of components, and analyzed via the established pseudo-rigid-body model, based upon which the kinematic mod- elings are performed, and the CPM workspace is determined in view of the physical constraints. One of the advantages of the presented CPM is that it provides a regular like workspace with a maximum cuboid defined as usable workspace inscribed and one isotropic configuration involved. Moreover, the architecture design of the CPM to achieve a maximum usable workspace is carried out, and the dexterity performance is evaluated. Simulation results show that the compact CPM can perform a dexterous manipulation within the usable workspace.
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