Abstract
The paper presents the kinematic model of a new meso-scale (\(\sim \)1 cm\(^3\)) parallel kinematic machine intended for laser phono-microsurgery of the vocal folds. The proposed mechanism uses the displacement generated by piezoelectric cantilever actuators manufactured via a Smart Composite Microstructure technique. The architecture, the geometry, and the position kinematics of the device, modeled as a spatial linkage, are discussed briefly. Then, the paper presents a velocity and singularity analysis and concludes that the new meso-scale parallel kinematic machine does not have singularities in the neighborhood of the reference configuration where it is required to operate.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Ballas R (2007) Piezoelectric multilayer beam bending actuators: static and dynamic behavior and aspects of sensor integration. Springer, Microtechnology and Mems
Clévy C, Rakotondrabe M, Chaillet N (2011) Signal measurement and estimation techniques for micro and nanotechnology. Springer, New York
Gosselin C, Angeles J (1990) Singularity analysis of closed-loop kinematic chains. IEEE Trans Robot Autom 6(3):281–290
Lobontiu N (2003) Compliant mechanisms: design of flexure hinges. CRC Press, Mechanical engineering
Merlet JP (2009) Interval analysis and reliability in robotics. Int J Reliab Safe 3
Mohamed MG, Duffy J (1985) A direct determination of the instantaneous kinematics of fully parallel robot manipulators. J Mech Trans Autom Des 107
Voglewede PA, Ebert-Uphoff I (2002) Two viewpoints on the unconstrained motion of parallel manipulators at or near singular configurations. In: International Conference on Robotics and Automation, pp 503–510
Wood R, Avadhanula S, Menon M, Fearing R (2003) Microrobotics using composite materials: the micromechanical flying insect thorax. IEEE Int Conf Robot Autom 2:1842–1849
Wood RJ, Avadhanula S, Sahai R, Steltz E, Fearing RS (2008) Microrobot design using fiber reinforced composites. J Mech Des 130(5):052,304+
Zlatanov D, Benhabib B, Fenton R (1994) Analysis of the instantaneous kinematics and singular configurations of hybrid-chain manipulators. Proceedings of the ASME 23rd Biennial Mechanisms Conference 72:467–476 (1994)
Zlatanov D, Fenton R, Benhabib B (1998) Identification and classification of the singular configurations of mechanisms. Mech Mach Theory 33(6):743–760
Zoppi M, Zlatanov D, Molfino R (2006) On the velocity analysis of interconnected chains mechanisms. Mech Mach Theory 41(11):1346–1358
Acknowledgments
This work has been supported by the European Union Seventh Framework Programme [FP7-ICT-2011-7]. Project \(\mu \)RALP (www.microralp.eu).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Lescano, S., Zlatanov, D., Rakotondrabe, M., Andreff, N. (2015). Kinematic Analysis of a Meso-Scale Parallel Robot for Laser Phonomicrosurgery. In: Kecskeméthy, A., Geu Flores, F. (eds) Interdisciplinary Applications of Kinematics. Mechanisms and Machine Science, vol 26. Springer, Cham. https://doi.org/10.1007/978-3-319-10723-3_14
Download citation
DOI: https://doi.org/10.1007/978-3-319-10723-3_14
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-10722-6
Online ISBN: 978-3-319-10723-3
eBook Packages: EngineeringEngineering (R0)