dc.contributor.advisor | Zhang, Dan | |
dc.contributor.author | Liang, Benkai | |
dc.date.accessioned | 2017-03-21T20:47:03Z | |
dc.date.accessioned | 2022-03-29T16:41:16Z | |
dc.date.available | 2017-03-21T20:47:03Z | |
dc.date.available | 2022-03-29T16:41:16Z | |
dc.date.issued | 2016-10-01 | |
dc.identifier.uri | https://hdl.handle.net/10155/732 | |
dc.description.abstract | Micromanipulation in microtechnology is highly needed for microfabrication and biomedical applications. Specifically, high manipulation resolution combined with accurate macromotions plays a more crucial role especially in the production of semi-conductors, assembly of integrated circuits as well as the accurate manipulation of cells and chromosomes. As a result, it is desired to design such a manipulator to be capable of achieving macro-micro manipulation with high accuracy and high reliability.
This thesis proposes a novel macro-micro manipulator system composed of two different parallel mechanisms which are responsible for the macro motion and the micro manipulation respectively. The macromanipulator is a 3-RRR planar parallel mechanism which has the mobility of 3 DOFs, namely two translational DOFs along x- and y-axis and one rotational DOF around the z-axis while the micromanipulator is a 3-UPS compliant parallel mechanism with an orthogonal structure of 3 translational DOFs.
The work in the thesis covers structural design of the macro-micro manipulator, kinematic modeling and inverse kinematic analysis, formulation of Jacobian matrix; micromanipulator-focused stiffness evaluation, workspace analysis and structural optimization of stiffness and workspace properties. | en |
dc.description.sponsorship | University of Ontario Institute of Technology | en |
dc.language.iso | en | en |
dc.subject | Macro-micro manipulator | en |
dc.subject | Micromanipulation | en |
dc.subject | Compliant mechanism | en |
dc.subject | Optimization | en |
dc.title | Design and optimization of a macro-micro manipulator featuring a 3-UPS compliant parallel mechanism | en |
dc.type | Thesis | en |
dc.degree.level | Master of Applied Science (MASc) | en |
dc.degree.discipline | Mechanical Engineering | en |