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A rapidly prototyped 2-axis positioning stage for microassembly using large displacement compliant mechanisms

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4 Author(s)
Hoover, A.M. ; California Univ., Berkeley, CA ; Avadhanula, S. ; Groff, R.E. ; Fearing, R.S.

Compliant mechanisms provide an attractive alternative to conventional rigid mechanisms in the design of ultra low-cost precision positioning systems. The desirable performance characteristics of these mechanisms including freedom from backlash, long life, light weight, and ease of fabrication/assembly make them an ideal solution to the problem of inexpensive precision positioning for microassembly. This paper presents a design for a 2 axis precision positioning system which makes use of large displacement compliant mechanisms, a room temperature and pressure molding fabrication process, commodity hardware, and a piecewise linear interpolation compensation scheme to achieve positioning performance suitable for automated assembly of sub-centimeter robotic and mechatronic devices

Published in:

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Date of Conference:

15-19 May 2006