Abstract
An electromagnetic actuated XY micromanipulator with completely decoupled characteristics is proposed in this paper. The design process, stiffness and kinematics analysis, and experimental study are performed. In order to improve the accuracy and decoupling performance, contact surface deformations, tensile and compression deformations of the flexures are taken into consideration. The mathematic models in terms of stiffness and kinematics models are derived based on the matrix displacement method, and then validated by using ANSYS and MATLAB software. A prototype is fabricated, and electromagnetic actuator is adopted due to the merits of low-cost, large stroke and non-contact driving. Each axis of the manipulator is driven by two actuators, so the end-effector can realize four quadrant motions. On account of model uncertainty, a repetitive controller is introduced. Open-loop and closed-loop experiments are conducted. Experimental results indicate that the proposed manipulator can be widely used in micro/nano positioning and manipulation applications.
Similar content being viewed by others
References
Awtar (2004) Analysis and synthesis of planer kinematic XY mechanisms. Dissertation, Massachusetts Institute of Technology
Akbari S, Pirbodaghi T (2016) Precision positioning using a novel six axes compliant nano-manipulator. Microsyst Technol. doi:10.1007/s00542-016-2931-2
Chao PC-P, Liao L-D, Lin H-H, Chung M-H (2009) Robust dual-stage and repetitive control designs for an optical pickup with parallel cantilever beams powered by piezo-actuation. Microsyst Technol 16:317–331
Choi K-B, Kim D-H (2006) Monolithic parallel linear compliant mechanism for two axes ultraprecision linear motion. Rev Sci Instrum 77:065106
Ding C, Janssen JLG, Damen AAH, van den Bosch PPJ, Paulides JJH, Lomonova E (2012) Modeling and realization of a 6-DoF contactless electromagnetic anti-vibration system and verification of its static behavior. In: IEEE/ASME international conference on advanced intelligent mechatronics (AIM), pp 149–154
Gong J, Zhang Y, Hu G (2013) Deformation rules of the contact surface between flexible units. Chin J Mech Eng 49(9):17–23
Li YM, Huang J, Tang H (2012) A compliant parallel XY micromotion stage with complete kinematic decoupling. IEEE Trans Autom Sci Eng 9(3):538–553
Li YM, Xu Q (2011) A novel piezoactuated xy stage with parallel, decoupled, and stacked flexure structure for micro-/nanopositioning. IEEE Trans Ind Electron 58(8):3601–3615
Moon JH, Lee MN, Chung MJ (1998) Repetitive control for the track-following servo system of an optical disk drive. IEEE Trans Control Syst Technol 6(5):663–670
Peng Y-Z, Wu J-W, Huang K-C, Chen J-J, Chen M-Y, Fu L-C (2011) Design and implementation of an atomic force microscope with adaptive sliding mode controller for large image scanning. In: Proceedings of the IEEE conference on decision and control (CDC), pp 5577–5582
Qu J, Chen W, Zhang J, Chen W (2015) A large-range compliant micropositioning stage with remote-center-of-motion characteristic for parallel alignment. Microsyst Technol 22:777–789
Tang X, Chen I-M (2006) A large-displacement and decoupled XYZ flexure parallel mechanism for micromanipulation. In: IEEE international conference on automation science and engineering (CASE), pp 75–80
Tang H, Li YM (2015) A new flexure-based \(y\theta\) nanomanipulator with nanometer-scale resolution and millimeter-scale workspace. IEEE/ASME Trans Mechatron 20(3):1320–1330
Tian Y, Shirinzadeh B, Zhang D (2010) Design and dynamics of a 3-DOF flexure-based parallel mechanism for micro/nano manipulation. Microelectron Eng 87(2):230–241
Verma S, Kim W-J, Gu J (2004) Six-axis nanopositioning device with precision magnetic levitation technology. IEEE/ASME Trans Mechatron 9(2):384–391
Xiao S, Li YM (2013) Optimal design, fabrication, and control of an XY micropositioning stage driven by electromagnetic actuators. IEEE Trans Ind Electron 60(10):4613–4626
Xiao X, Li YM (2016) Development of an electromagnetic actuated micro-displacement module. IEEE/ASME Trans Mechatron 21(3):1252–1261
Yang S, MacLachlan RA, Riviere CN (2012) Design and analysis of 6 DOF handheld micromanipulator. In: Proceedings-IEEE international conference on robotics and automation (ICRA), pp 1946–1951
Yong YK, Aphale SS, Moheimani SOR (2009) Design, identification, and control of a flexure-based \(XY\) stage for fast nanoscale positioning. IEEE Trans Nanotechnol 8(1):46–54
Yue Y, Gao F, Zhao X, Ge QJ (2010) Relationship among input-force, payload, stiffness and displacement of a 3-DOF perpendicular parallel micro-manipulator. Mech Mach Theory 45(5):756–771
Zhang Y, Tan KK, Huang S (2009) Vision-servo system for automated cell injection. IEEE Trans Ind Electron 56(1):231–238
Zhao J, Wang H, Gao R, Hu P, Yang Y (2012) A novel alignment mechanism employing orthogonal connected multi-layered flexible hinges for both leveling and centering. Rev Sci Instrum 83:065102.1-8
Acknowledgments
This work was supported in part by National Natural Science Foundation of China (51575544, 51275353), Macao Science and Technology Development Fund (108/2012/A3, 110/2013/A3), Research Committee of University of Macau (MYRG2015-00194-FST).
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Xiao, X., Li, Y. & Xiao, S. Development of a novel large stroke 2-DOF micromanipulator for micro/nano manipulation. Microsyst Technol 23, 2993–3003 (2017). https://doi.org/10.1007/s00542-016-2991-3
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00542-016-2991-3