Jianjun Zhang, Xiaohui Wang, W. Liu, K. Qi, Weimin Li
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On the study of statics and stiffness of a 6-PSS parallel micro-manipulator with perpendicular structures
Parallel micro-manipulators adopt flexible joints and the flexible deformation makes the up-platform move. Considering the counter-force/moment of the flexible joints, we concern the statics of a 6-PSS parallel micro-manipulator with perpendicular structures(PMMWPS), the construction of a relationship model between force output of PZT actuators and outer load on the up-platform, and the definition of driving stiffness matrix. As the particularity of the micro-manipulator, its stiffness is defined and stiffness matrix is derived. Finally, giving numerical value of the micro-manipulator parameters, we figure out the result that was verified by aid of Ansys software. The result of this paper is very useful for the design and dynamics analysis of the parallel micro-manipulator.
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