{"product_id":"design-and-implementation-of-largerange-compliant-micropositioning-systems-9781119131434","title":"Design and Implementation of LargeRange Compliant","description":"\u003cb\u003eBook Synopsis\u003c\/b\u003e\u003cbr\u003e\u003cb\u003eAn innovative and timely guide to the modeling, design and implementation of large-range compliant micropositioning systems based on flexure hinges\u003c\/b\u003e \u003cul\u003e \u003cli\u003eFeatures innovative compact mechanism designs for large-range translational and rotational positioning\u003c\/li\u003e \u003cli\u003eProvides original and concise treatment of various flexure hinges with well-presented design and control methods\u003c\/li\u003e \u003cli\u003eFocuses on design implementation and applications through detailed examples\u003c\/li\u003e \u003c\/ul\u003e\u003cbr\u003e\u003cbr\u003e\u003cb\u003eTable of Contents\u003c\/b\u003e\u003cbr\u003e\u003cp\u003ePreface xiii\u003c\/p\u003e \u003cp\u003eAcknowledgments xvii\u003c\/p\u003e \u003cp\u003e\u003cb\u003e1 Introduction 1\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e1.1 Micropositioning Techniques 1\u003c\/p\u003e \u003cp\u003e1.2 Compliant Guiding Mechanisms 2\u003c\/p\u003e \u003cp\u003e1.2.1 Basic Flexure Hinges 2\u003c\/p\u003e \u003cp\u003e1.2.2 Translational Flexure Hinges 3\u003c\/p\u003e \u003cp\u003e1.2.3 Translational Positioning Mechanisms 4\u003c\/p\u003e \u003cp\u003e1.2.4 Rotational Positioning Mechanisms 8\u003c\/p\u003e \u003cp\u003e1.2.5 Multi-Stroke Positioning Mechanisms 10\u003c\/p\u003e \u003cp\u003e1.3 Actuation and Sensing 11\u003c\/p\u003e \u003cp\u003e1.4 Control Issues 12\u003c\/p\u003e \u003cp\u003e1.5 Book Outline 14\u003c\/p\u003e \u003cp\u003eReferences 14\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart I LARGE-RANGE TRANSLATIONAL MICROPOSITIONING SYSTEMS\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e2 Uniaxial Flexure Stage 21\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e2.1 Concept of MCPF 21\u003c\/p\u003e \u003cp\u003e2.1.1 Limitation of Conventional Flexures 21\u003c\/p\u003e \u003cp\u003e2.1.2 Proposal of MCPF 23\u003c\/p\u003e \u003cp\u003e2.2 Design of a Large-Range Flexure Stage 25\u003c\/p\u003e \u003cp\u003e2.2.1 Mechanism Design 25\u003c\/p\u003e \u003cp\u003e2.2.2 Analytical Modeling 26\u003c\/p\u003e \u003cp\u003e2.2.3 Architecture Optimization 29\u003c\/p\u003e \u003cp\u003e2.2.4 Structure Improvement 31\u003c\/p\u003e \u003cp\u003e2.3 Prototype Development and Performance Testings 33\u003c\/p\u003e \u003cp\u003e2.3.1 Statics Performance Testing 34\u003c\/p\u003e \u003cp\u003e2.3.2 Dynamics Performance Testing 35\u003c\/p\u003e \u003cp\u003e2.4 Sliding Mode Controller Design 35\u003c\/p\u003e \u003cp\u003e2.4.1 Dynamics Modeling 35\u003c\/p\u003e \u003cp\u003e2.4.2 DSMC Design 36\u003c\/p\u003e \u003cp\u003e2.5 Experimental Studies 38\u003c\/p\u003e \u003cp\u003e2.5.1 Plant Model Identification 38\u003c\/p\u003e \u003cp\u003e2.5.2 Controller Setup 39\u003c\/p\u003e \u003cp\u003e2.5.3 Set-Point Positioning Results 39\u003c\/p\u003e \u003cp\u003e2.5.4 Sinusoidal Positioning Results 41\u003c\/p\u003e \u003cp\u003e2.6 Conclusion 42\u003c\/p\u003e \u003cp\u003eReferences 44\u003c\/p\u003e \u003cp\u003e\u003cb\u003e3 XY Flexure Stage 45\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e3.1 Introduction 45\u003c\/p\u003e \u003cp\u003e3.2 XY Stage Design 46\u003c\/p\u003e \u003cp\u003e3.2.1 Decoupled XY Stage Design with MCPF 46\u003c\/p\u003e \u003cp\u003e3.2.2 Buckling\/Bending Effect Consideration 49\u003c\/p\u003e \u003cp\u003e3.2.3 Actuation Issues 51\u003c\/p\u003e \u003cp\u003e3.3 Model Verification and Prototype Development 52\u003c\/p\u003e \u003cp\u003e3.3.1 Performance Assessment with FEA Simulation 52\u003c\/p\u003e \u003cp\u003e3.3.2 Prototype Fabrication 54\u003c\/p\u003e \u003cp\u003e3.3.3 Open-Loop Experimental Results 54\u003c\/p\u003e \u003cp\u003e3.4 EMPC Control Scheme Design 55\u003c\/p\u003e \u003cp\u003e3.4.1 Problem Formulation 56\u003c\/p\u003e \u003cp\u003e3.4.2 EMPC Scheme Design 57\u003c\/p\u003e \u003cp\u003e3.4.3 State Observer Design 60\u003c\/p\u003e \u003cp\u003e3.4.4 Tracking Error Analysis 61\u003c\/p\u003e \u003cp\u003e3.5 Simulation and Experimental Studies 61\u003c\/p\u003e \u003cp\u003e3.5.1 Plant Model Identification 61\u003c\/p\u003e \u003cp\u003e3.5.2 Controller Parameter Design 64\u003c\/p\u003e \u003cp\u003e3.5.3 Simulation Studies and Discussion 64\u003c\/p\u003e \u003cp\u003e3.5.4 Experimental Results and Discussion 66\u003c\/p\u003e \u003cp\u003e3.6 Conclusion 67\u003c\/p\u003e \u003cp\u003eReferences 69\u003c\/p\u003e \u003cp\u003e\u003cb\u003e4 Two-Layer XY Flexure Stage 70\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e4.1 Introduction 70\u003c\/p\u003e \u003cp\u003e4.2 Mechanism Design 71\u003c\/p\u003e \u003cp\u003e4.2.1 Design of a Two-Layer XY Stage with MCPF 71\u003c\/p\u003e \u003cp\u003e4.2.2 Structure Improvement of the XY Stage 72\u003c\/p\u003e \u003cp\u003e4.3 Parametric Design 73\u003c\/p\u003e \u003cp\u003e4.3.1 Motion Range Design 73\u003c\/p\u003e \u003cp\u003e4.3.2 Stiffness and Actuation Force Design 74\u003c\/p\u003e \u003cp\u003e4.3.3 Critical Load of Buckling 75\u003c\/p\u003e \u003cp\u003e4.3.4 Resonant Frequency 75\u003c\/p\u003e \u003cp\u003e4.3.5 Out-of-Plane Payload Capability 76\u003c\/p\u003e \u003cp\u003e4.3.6 Influences of Manufacturing Tolerance 77\u003c\/p\u003e \u003cp\u003e4.4 Experimental Studies and Results 79\u003c\/p\u003e \u003cp\u003e4.4.1 Prototype Development 80\u003c\/p\u003e \u003cp\u003e4.4.2 Statics Performance Testing 80\u003c\/p\u003e \u003cp\u003e4.4.3 Dynamics Performance Testing 81\u003c\/p\u003e \u003cp\u003e4.4.4 Positioning Performance Testing 83\u003c\/p\u003e \u003cp\u003e4.4.5 Contouring Performance Testing 84\u003c\/p\u003e \u003cp\u003e4.4.6 Control Bandwidth Testing 86\u003c\/p\u003e \u003cp\u003e4.4.7 Discussion and Future Work 88\u003c\/p\u003e \u003cp\u003e4.5 Conclusion 89\u003c\/p\u003e \u003cp\u003eReferences 89\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart II MULTI-STROKE TRANSLATIONAL MICROPOSITIONING SYSTEMS\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e5 Dual-Stroke Uniaxial Flexure Stage 93\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e5.1 Introduction 93\u003c\/p\u003e \u003cp\u003e5.2 Mechanism Design and Analysis 94\u003c\/p\u003e \u003cp\u003e5.2.1 Mechanism Design to Minimize Interference Behavior 94\u003c\/p\u003e \u003cp\u003e5.2.2 Mechanism Design to Achieve Large Stroke 99\u003c\/p\u003e \u003cp\u003e5.2.3 FEA Simulation and Design Improvement 101\u003c\/p\u003e \u003cp\u003e5.3 Prototype Development and Open-Loop Testing 104\u003c\/p\u003e \u003cp\u003e5.3.1 Experimental Setup 106\u003c\/p\u003e \u003cp\u003e5.3.2 Statics Performance Testing 106\u003c\/p\u003e \u003cp\u003e5.3.3 Dynamics Performance Testing 107\u003c\/p\u003e \u003cp\u003e5.4 Controller Design and Experimental Studies 109\u003c\/p\u003e \u003cp\u003e5.4.1 Controller Design 109\u003c\/p\u003e \u003cp\u003e5.4.2 Experimental Studies 110\u003c\/p\u003e \u003cp\u003e5.5 Conclusion 111\u003c\/p\u003e \u003cp\u003eReferences 113\u003c\/p\u003e \u003cp\u003e\u003cb\u003e6 Dual-Stroke, Dual-Resolution Uniaxial Flexure Stage 114\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e6.1 Introduction 114\u003c\/p\u003e \u003cp\u003e6.2 Conceptual Design 115\u003c\/p\u003e \u003cp\u003e6.2.1 Design of a Compliant Stage with Dual Ranges 115\u003c\/p\u003e \u003cp\u003e6.2.2 Design of a Compliant Stage with Dual Resolutions 116\u003c\/p\u003e \u003cp\u003e6.3 Mechanism Design 117\u003c\/p\u003e \u003cp\u003e6.3.1 Stiffness Calculation 118\u003c\/p\u003e \u003cp\u003e6.3.2 Motion Range Design 119\u003c\/p\u003e \u003cp\u003e6.3.3 Motor Stroke and Driving Force Requirement 120\u003c\/p\u003e \u003cp\u003e6.3.4 Sensor Deployment 121\u003c\/p\u003e \u003cp\u003e6.4 Performance Evaluation 123\u003c\/p\u003e \u003cp\u003e6.4.1 Analytical Model Results 123\u003c\/p\u003e \u003cp\u003e6.4.2 FEA Simulation Results 124\u003c\/p\u003e \u003cp\u003e6.5 Prototype Development and Experimental Studies 125\u003c\/p\u003e \u003cp\u003e6.5.1 Prototype Development 126\u003c\/p\u003e \u003cp\u003e6.5.2 Statics Performance Testing 127\u003c\/p\u003e \u003cp\u003e6.5.3 Dynamics Performance Testing 129\u003c\/p\u003e \u003cp\u003e6.5.4 Further Discussion 131\u003c\/p\u003e \u003cp\u003e6.6 Conclusion 133\u003c\/p\u003e \u003cp\u003eReferences 133\u003c\/p\u003e \u003cp\u003e\u003cb\u003e7 Multi-Stroke, Multi-Resolution XY Flexure Stage 135\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e7.1 Introduction 135\u003c\/p\u003e \u003cp\u003e7.2 Conceptual Design 136\u003c\/p\u003e \u003cp\u003e7.2.1 Design of Flexure Stage with Multiple Strokes 136\u003c\/p\u003e \u003cp\u003e7.2.2 Design of Flexure Stage with Multiple Resolutions 138\u003c\/p\u003e \u003cp\u003e7.3 Flexure-Based Compliant Mechanism Design 139\u003c\/p\u003e \u003cp\u003e7.3.1 Compliant Element Selection 139\u003c\/p\u003e \u003cp\u003e7.3.2 Design of a Two-Axis Stage 140\u003c\/p\u003e \u003cp\u003e7.4 Parametric Design 141\u003c\/p\u003e \u003cp\u003e7.4.1 Design of Motion Strokes 141\u003c\/p\u003e \u003cp\u003e7.4.2 Design of Coarse\/Fine Sensor Resolution Ratio 144\u003c\/p\u003e \u003cp\u003e7.4.3 Actuation Issue Consideration 145\u003c\/p\u003e \u003cp\u003e7.5 Stage Performance Assessment 146\u003c\/p\u003e \u003cp\u003e7.5.1 Analytical Model Evaluation Results 146\u003c\/p\u003e \u003cp\u003e7.5.2 FEA Simulation Results 146\u003c\/p\u003e \u003cp\u003e7.6 Prototype Development and Experimental Studies 149\u003c\/p\u003e \u003cp\u003e7.6.1 Prototype Development 149\u003c\/p\u003e \u003cp\u003e7.6.2 Statics Performance Testing 150\u003c\/p\u003e \u003cp\u003e7.6.3 Dynamics Performance Testing 154\u003c\/p\u003e \u003cp\u003e7.6.4 Circular Contouring Testing 156\u003c\/p\u003e \u003cp\u003e7.6.5 Discussion 156\u003c\/p\u003e \u003cp\u003e7.7 Conclusion 159\u003c\/p\u003e \u003cp\u003eReferences 159\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart III LARGE-RANGE ROTATIONAL MICROPOSITIONING SYSTEMS\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e8 Rotational Stage with Linear Drive 163\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e8.1 Introduction 163\u003c\/p\u003e \u003cp\u003e8.2 Design of MCRF 164\u003c\/p\u003e \u003cp\u003e8.2.1 Limitation of Conventional Radial Flexures 164\u003c\/p\u003e \u003cp\u003e8.2.2 Proposal of MCRF 165\u003c\/p\u003e \u003cp\u003e8.2.3 Analytical Models 166\u003c\/p\u003e \u003cp\u003e8.3 Design of a Rotary Stage with MCRF 169\u003c\/p\u003e \u003cp\u003e8.3.1 Consideration of Actuation Issues 170\u003c\/p\u003e \u003cp\u003e8.3.2 Consideration of Sensing Issues 172\u003c\/p\u003e \u003cp\u003e8.4 Performance Evaluation with FEA Simulation 172\u003c\/p\u003e \u003cp\u003e8.4.1 Analytical Model Results 172\u003c\/p\u003e \u003cp\u003e8.4.2 FEA Simulation Results 173\u003c\/p\u003e \u003cp\u003e8.4.3 Structure Improvement 175\u003c\/p\u003e \u003cp\u003e8.5 Prototype Development and Experimental Studies 176\u003c\/p\u003e \u003cp\u003e8.5.1 Prototype Development 176\u003c\/p\u003e \u003cp\u003e8.5.2 Open-Loop Performance Testing 177\u003c\/p\u003e \u003cp\u003e8.5.3 Controller Design and Closed-Loop Performance Testing 178\u003c\/p\u003e \u003cp\u003e8.5.4 Further Discussion 181\u003c\/p\u003e \u003cp\u003e8.6 Conclusion 183\u003c\/p\u003e \u003cp\u003eReferences 184\u003c\/p\u003e \u003cp\u003e\u003cb\u003e9 Rotational Stage with Rotary Drive 185\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e9.1 Introduction 185\u003c\/p\u003e \u003cp\u003e9.2 New Design of MCRF 186\u003c\/p\u003e \u003cp\u003e9.2.1 MCRF Design 186\u003c\/p\u003e \u003cp\u003e9.2.2 Analytical Model Not Considering Deformation 187\u003c\/p\u003e \u003cp\u003e9.2.3 Analytical Model Considering Deformation 189\u003c\/p\u003e \u003cp\u003e9.3 Design of the Rotary Stage 192\u003c\/p\u003e \u003cp\u003e9.3.1 Actuator Selection 194\u003c\/p\u003e \u003cp\u003e9.3.2 Sensor Design 194\u003c\/p\u003e \u003cp\u003e9.4 Performance Evaluation with FEA Simulation 196\u003c\/p\u003e \u003cp\u003e9.4.1 Analytical Model Results 197\u003c\/p\u003e \u003cp\u003e9.4.2 FEA Simulation Results 197\u003c\/p\u003e \u003cp\u003e9.5 Prototype Fabrication and Experimental Testing 201\u003c\/p\u003e \u003cp\u003e9.5.1 Prototype Development 201\u003c\/p\u003e \u003cp\u003e9.5.2 Statics Performance Testing 202\u003c\/p\u003e \u003cp\u003e9.5.3 Dynamics Performance Testing 206\u003c\/p\u003e \u003cp\u003e9.5.4 Discussion 206\u003c\/p\u003e \u003cp\u003e9.6 Conclusion 207\u003c\/p\u003e \u003cp\u003eReferences 208\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart IV APPLICATIONS TO COMPLIANT GRIPPER DESIGN\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e10 Large-Range Rotary Gripper 213\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e10.1 Introduction 213\u003c\/p\u003e \u003cp\u003e10.1.1 Structure Design and Driving Method 213\u003c\/p\u003e \u003cp\u003e10.1.2 Sensing Requirements 214\u003c\/p\u003e \u003cp\u003e10.2 Mechanism Design and Analysis 216\u003c\/p\u003e \u003cp\u003e10.2.1 Actuation Issues 216\u003c\/p\u003e \u003cp\u003e10.2.2 Position and Force Sensing Issues 218\u003c\/p\u003e \u003cp\u003e10.3 Performance Evaluation with FEA Simulation 222\u003c\/p\u003e \u003cp\u003e10.3.1 Analytical Model Results 222\u003c\/p\u003e \u003cp\u003e10.3.2 FEA Simulation Results 222\u003c\/p\u003e \u003cp\u003e10.4 Prototype Development and Calibration 227\u003c\/p\u003e \u003cp\u003e10.4.1 Prototype Development 227\u003c\/p\u003e \u003cp\u003e10.4.2 Calibration of Position Sensor 228\u003c\/p\u003e \u003cp\u003e10.4.3 Calibration of Force Sensor 229\u003c\/p\u003e \u003cp\u003e10.4.4 Verification of Force Sensor 230\u003c\/p\u003e \u003cp\u003e10.4.5 Consistency Testing of the Sensors 231\u003c\/p\u003e \u003cp\u003e10.5 Performance Testing Results 232\u003c\/p\u003e \u003cp\u003e10.5.1 Testing of Gripping Sensing Performance 232\u003c\/p\u003e \u003cp\u003e10.5.2 Testing of Horizontal Interaction Detection 235\u003c\/p\u003e \u003cp\u003e10.5.3 Testing of Vertical Interaction Detection 236\u003c\/p\u003e \u003cp\u003e10.5.4 Testing of Dynamics Performance 237\u003c\/p\u003e \u003cp\u003e10.5.5 Applications to Pick–Transport–Place in Assembly 238\u003c\/p\u003e \u003cp\u003e10.5.6 Further Discussion 239\u003c\/p\u003e \u003cp\u003e10.6 Conclusion 242\u003c\/p\u003e \u003cp\u003eReferences 242\u003c\/p\u003e \u003cp\u003e\u003cb\u003e11 MEMS Rotary Gripper 244\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e11.1 Introduction 244\u003c\/p\u003e \u003cp\u003e11.2 MEMS Gripper Design 245\u003c\/p\u003e \u003cp\u003e11.2.1 Actuator Design 246\u003c\/p\u003e \u003cp\u003e11.2.2 Sensor Design 249\u003c\/p\u003e \u003cp\u003e11.3 Performance Evaluation with FEA Simulation 251\u003c\/p\u003e \u003cp\u003e11.3.1 Statics Analysis 252\u003c\/p\u003e \u003cp\u003e11.3.2 Dynamics Analysis 254\u003c\/p\u003e \u003cp\u003e11.4 Gripper Fabrication 254\u003c\/p\u003e \u003cp\u003e11.5 Experimental Results and Discussion 255\u003c\/p\u003e \u003cp\u003e11.5.1 Gripping Range Testing Results 255\u003c\/p\u003e \u003cp\u003e11.5.2 Gripping Force Testing Results 258\u003c\/p\u003e \u003cp\u003e11.5.3 Interaction Force Testing Results 260\u003c\/p\u003e \u003cp\u003e11.5.4 Demonstration of Micro-object Gripping 261\u003c\/p\u003e \u003cp\u003e11.5.5 Further Discussion 262\u003c\/p\u003e \u003cp\u003e11.6 Conclusion 264\u003c\/p\u003e \u003cp\u003eReferences 266\u003c\/p\u003e \u003cp\u003eIndex 267\u003c\/p\u003e","brand":"John Wiley \u0026 Sons Inc","offers":[{"title":"Default Title","offer_id":49528847827287,"sku":"9781119131434","price":110.15,"currency_code":"GBP","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0817\/1739\/5799\/files\/9781119131434.jpg?v=1731873259","url":"https:\/\/bookcurl.com\/products\/design-and-implementation-of-largerange-compliant-micropositioning-systems-9781119131434","provider":"Book 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