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Dynamic Modeling and Controller Design of a Planar Parallel 3-RRR Compliant Micromanipulator

[+] Author Affiliations
Jingjun Yu, Shusheng Bi, Guanghua Zong

Beijing University of Aeronautics and Astronautics, Beijing, China

Dong Zhao

University of Florida, Gainesville, FL

Paper No. DETC2005-85241, pp. 71-78; 8 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


This paper presents control system formulations of a planar parallel 3-RRR parallel compliant micromanipulator. The design methodology is illustrated with one of such designs constructed at Beijing University of Aeronautics and Astronautics, China. Compliant joints and motion-amplifying mechanism allow rapid and accurate response as well as larger workspace. The three PZT actuators attached on the linkages produce the bending moments. The sensor is a CCD camera feeding back the tool point position. The plant is the equations of motion which can be formulated using the Lagrangian method and dynamics software. The system dynamic model was developed with ADAMS which can export the nonlinear and linearized control plant to Matlab Simulink. Overall dynamic behavior of the manipulator will be illustrated through simulations with Matlab Simulink Toolbox. After comparison of two different control plans, the controller obtained from LQR method was chosen to achieve the control objectives. Closed-loop performance in response to a step reference was plotted. Bode plots of the sensitivity and complementary sensitivity showed their relation to the step response. Gain and phase margins was computed.

Copyright © 2005 by ASME



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