Design and Kinematics of a Compliant Stewart Micromanipulator

Abstract

In this paper, a novel compliant model of Stewart platform is designed and analyzed. The literature shows that there is a need for micromanipulators having 6-DOF with high range of motions and low parasitic motion. A novel design for Stewart platform is developed for micromanipulation applications. The inverse kinematics with the help of pseudo-rigid-body model (PRB model) of the micromanipulator is formulated and solved. FEA simulations are carried out to know the 6-DOF motion capability of the micromanipulator. In the end, the dynamic performance of the FE model of the micromanipulator is presented.