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An XYZ Micromanipulator with three translational degrees of freedom

  • Kimberly A. Jensen (a1), Craig P. Lusk (a1) and Larry L. Howell (a1)

This paper introduces a three degree of freedom XYZ Micromanipulator (XYZM) that is fabricated in the $x$-$y$ plane and positions components in the $x$, $y$, and $z$ directions using three independent linear inputs. The mechanism positions components on a platform using three legs, each composed of a slider mechanism and a parallelogram mechanism.

Three versions of the XYZM were fabricated and tested using surface micromachining processes: the rigid-body, offset, and compliant XYZM. Slider displacements of 45 micrometers result in a predicted out-of-plane displacement of 188 micrometers for the rigid-body XYZM, 205 micrometers for the offset XYZM, and 262 micrometers for the compliant XYZM.

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  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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