Manipulator effecting 2D microdisplacements

  • Artur Gawlik
  • Wiktor Harmatys
  • Stanisław Łaczek
  • Grzegorz ToraEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


The study summarises the structural design of a manipulator mechanism effecting the micro-scale displacements in two directions on a plane. The mechanism, designed and engineered as a monolith cut out from a single steel sheet, incorporates the bar linkages connected via narrowed necks with a round undercut, operating as revolute joints with the constrained motion range. Bar linkages are connected to an immobile edge of the rigidly fixed link via necks. The end effector can be set in motion manually, through varying the input link’s position on the plane. Two displacements of the input link, orthogonal to each other, are separately transmitted and reduced by mutually symmetrical bar linkage mechanisms. Displacement reduction is effected through the use of classical bar linkage mechanisms and a regulated transmission ratio. The resultant of mutually orthogonal displacements, reduced to the micrometer range executes the complex displacement of the square-based effector link. In the extreme vertex of the square there is the tip of the end effector which performs the micro-tasks. The study explores the kinematic relationships of link positions, yielding the recommendations for geometric dimensions of the bar linkage and enabling the transmission ratios in the executed motions to be precisely determined. The analysis of displacements and stresses acting in the necks is supported by the FEM software. Simulation data indicate the occurrence of plastic strains in neck localised in the proximity of the driving link. The mechanism was tested under laboratory conditions to confirm its correctness of assumptions and functionality features.


monolithic manipulator micro-scale motion mechanical control 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Yangmin L., Qingsong X.: Modeling and performance evaluation of a flexure-based XY parallel micromanipulator. Mechanism and Machine Theory 44, 2127–2152, (2009).Google Scholar
  2. 2.
    Li Y., Wu Z.: Design, analysis and simulation of a novel 3-DOF translational micromanipulator based on the PRB model. Mechanism and Machine Theory 100, 235–258, (2016).Google Scholar
  3. 3.
    Kim J.J., Choi Y.M., Ahn D., Hwang B., Gweon D.G., Jeong J.: A millimeter-range flexure-based nano-positioning stage using a self-guided displacement amplification mechanism. Mechanism and Machine Theory 50, 109–120, (2012).Google Scholar
  4. 4.
    Pinskier J., Shirinzadeh B., Clark L., Qin Y., Fatikow S.: Design, development and analysis of a haptic-enabled modular flexure-based manipulator. Mechatronics 40, 156–166, (2016).Google Scholar
  5. 5.
    Zhang D., Gao Z.: Performance analysis and optimization of a five-degrees-of-freedom compliant hybrid parallel micromanipulator. Robotics and Computer-Integrated Manufac-turing 34, 20–29, (2015).Google Scholar
  6. 6.
    LU, Tien-Fu, YONG, Yuen, Kuan: Parallel Micromanipulator and Control Method. Patent WO 2006/050560 A1, (2006).Google Scholar
  7. 7.
    Hao G., He X.: Designing a Monolithic Tip-Tilt-Piston Flexure Manipulator. Archives of Civil and Mechanical Engineering 17(4), 1–11б (2017).Google Scholar
  8. 8.
    Зайцев В.А., Райхман Я.А., Быковский П.А.: Микроманипулятор, Патент 590536, (1978).Google Scholar
  9. 9.
    Corigliano A., Ardito R., Comi C., Frangi A., Ghisi A., Mariani S.: Mechanics of Microsys-tems. 1st edn. The Wiley Microsystem and Nanotechnology Series. (2018).Google Scholar
  10. 10.
    Tang H., Li Y.: Feedforward nonlinear PID control of a novel micromanipulator using Preisach hysteresis compensator. Robotics and Computer-IntegratedManufacturing 34, 124–132, (2015).Google Scholar
  11. 11.
    Pio Belfiore N., Simeone P.: Inverse kinetostatic analysis of compliant four-bar linkages. Mechanism and Machine Theory 69, 350–372, (2013).Google Scholar
  12. 12.
    Xu Q.: Design, testing and precision control of a novel long-stroke flexure micropositioning system. Mechanism and Machine Theory 70, 209–224, (2013).Google Scholar
  13. 13.
    Chace M.A.: Development and application of vector mathematics for kinematic analysis of three-dimensional mechanisms. Doctor dissertation, University of Michigan (1964).Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Artur Gawlik
    • 1
  • Wiktor Harmatys
    • 1
  • Stanisław Łaczek
    • 2
  • Grzegorz Tora
    • 1
    Email author
  1. 1.Cracow University of TechnologyKrakówPoland
  2. 2.Retired employee of CUTKrakówPoland

Personalised recommendations