{"id":{"repo_id":"uoit","oai_identifier":"oai:ontariotechu.scholaris.ca:10155/732"},"canonical_url":"https://search.dev.ndltd.org/etd/uoit/oai:ontariotechu.scholaris.ca:10155/732","repository":{"repo_id":"uoit","name":"Ontario Institute of Technology","base_url":"https://ontariotechu.scholaris.ca/server/oai/request"},"display":{"title":"Design and optimization of a macro-micro manipulator featuring a 3-UPS compliant parallel mechanism","abstract":"Micromanipulation in microtechnology is highly needed for microfabrication and biomedical applications. Specifically, high manipulation resolution combined with accurate macromotions plays a more crucial role especially in the production of semi-conductors, assembly of integrated circuits as well as the accurate manipulation of cells and chromosomes. As a result, it is desired to design such a manipulator to be capable of achieving macro-micro manipulation with high accuracy and high reliability. This thesis proposes a novel macro-micro manipulator system composed of two different parallel mechanisms which are responsible for the macro motion and the micro manipulation respectively. The macromanipulator is a 3-RRR planar parallel mechanism which has the mobility of 3 DOFs, namely two translational DOFs along x- and y-axis and one rotational DOF around the z-axis while the micromanipulator is a 3-UPS compliant parallel mechanism with an orthogonal structure of 3 translational DOFs. The work in the thesis covers structural design of the macro-micro manipulator, kinematic modeling and inverse kinematic analysis, formulation of Jacobian matrix; micromanipulator-focused stiffness evaluation, workspace analysis and structural optimization of stiffness and workspace properties.","abstract_html":"Micromanipulation in microtechnology is highly needed for microfabrication and biomedical applications. Specifically, high manipulation resolution combined with accurate macromotions plays a more crucial role especially in the production of semi-conductors, assembly of integrated circuits as well as the accurate manipulation of cells and chromosomes. As a result, it is desired to design such a manipulator to be capable of achieving macro-micro manipulation with high accuracy and high reliability. This thesis proposes a novel macro-micro manipulator system composed of two different parallel mechanisms which are responsible for the macro motion and the micro manipulation respectively. The macromanipulator is a 3-RRR planar parallel mechanism which has the mobility of 3 DOFs, namely two translational DOFs along x- and y-axis and one rotational DOF around the z-axis while the micromanipulator is a 3-UPS compliant parallel mechanism with an orthogonal structure of 3 translational DOFs. The work in the thesis covers structural design of the macro-micro manipulator, kinematic modeling and inverse kinematic analysis, formulation of Jacobian matrix; micromanipulator-focused stiffness evaluation, workspace analysis and structural optimization of stiffness and workspace properties.","abstract_has_math":false,"creators":["Liang, Benkai"],"institution":"University of Ontario Institute of Technology","degree_name":"Master of Applied Science (MASc)","degree_level":null,"degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":[],"advisors":["Zhang, Dan"],"committee_chairs":[],"committee_members":[],"year":2016,"date_issued":"2016-10-01","date_published":"2016-10-01","updated_at":"2026-07-24T05:35:18Z","subjects":["Macro-micro manipulator","Micromanipulation","Compliant mechanism","Optimization"],"languages":["en"],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/10155/732","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Zhang, Dan"]},{"key":"dc:creator","label":"Author","values":["Liang, Benkai"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2017-03-21T20:47:03Z","2022-03-29T16:41:16Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2017-03-21T20:47:03Z","2022-03-29T16:41:16Z"]},{"key":"dc:date.issued","label":"Date","values":["2016-10-01"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Applied Science (MASc)"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Ontario Institute of Technology"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Macro-micro manipulator","Micromanipulation","Compliant mechanism","Optimization"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/10155/732"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["Micromanipulation in microtechnology is highly needed for microfabrication and biomedical applications. Specifically, high manipulation resolution combined with accurate macromotions plays a more crucial role especially in the production of semi-conductors, assembly of integrated circuits as well as the accurate manipulation of cells and chromosomes. As a result, it is desired to design such a manipulator to be capable of achieving macro-micro manipulation with high accuracy and high reliability. This thesis proposes a novel macro-micro manipulator system composed of two different parallel mechanisms which are responsible for the macro motion and the micro manipulation respectively. The macromanipulator is a 3-RRR planar parallel mechanism which has the mobility of 3 DOFs, namely two translational DOFs along x- and y-axis and one rotational DOF around the z-axis while the micromanipulator is a 3-UPS compliant parallel mechanism with an orthogonal structure of 3 translational DOFs. The work in the thesis covers structural design of the macro-micro manipulator, kinematic modeling and inverse kinematic analysis, formulation of Jacobian matrix; micromanipulator-focused stiffness evaluation, workspace analysis and structural optimization of stiffness and workspace properties."]},{"key":"dc:title","label":"Title","values":["Design and optimization of a macro-micro manipulator featuring a 3-UPS compliant parallel mechanism"]}]}],"canonical_facts":{"dc:contributor.advisor":["Zhang, Dan"],"dc:creator":["Liang, Benkai"],"dc:date.accessioned":["2017-03-21T20:47:03Z","2022-03-29T16:41:16Z"],"dc:date.available":["2017-03-21T20:47:03Z","2022-03-29T16:41:16Z"],"dc:date.issued":["2016-10-01"],"dc:description.abstract":["Micromanipulation in microtechnology is highly needed for microfabrication and biomedical applications. Specifically, high manipulation resolution combined with accurate macromotions plays a more crucial role especially in the production of semi-conductors, assembly of integrated circuits as well as the accurate manipulation of cells and chromosomes. As a result, it is desired to design such a manipulator to be capable of achieving macro-micro manipulation with high accuracy and high reliability. This thesis proposes a novel macro-micro manipulator system composed of two different parallel mechanisms which are responsible for the macro motion and the micro manipulation respectively. The macromanipulator is a 3-RRR planar parallel mechanism which has the mobility of 3 DOFs, namely two translational DOFs along x- and y-axis and one rotational DOF around the z-axis while the micromanipulator is a 3-UPS compliant parallel mechanism with an orthogonal structure of 3 translational DOFs. The work in the thesis covers structural design of the macro-micro manipulator, kinematic modeling and inverse kinematic analysis, formulation of Jacobian matrix; micromanipulator-focused stiffness evaluation, workspace analysis and structural optimization of stiffness and workspace properties."],"dc:identifier.uri":["https://hdl.handle.net/10155/732"],"dc:language.iso":["en"],"dc:subject":["Macro-micro manipulator","Micromanipulation","Compliant mechanism","Optimization"],"dc:title":["Design and optimization of a macro-micro manipulator featuring a 3-UPS compliant parallel mechanism"],"dc:type":["Thesis"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_name":["Master of Applied Science (MASc)"],"thesis:institution_name":["University of Ontario Institute of Technology"]},"updated_at":"2026-07-24T05:35:18Z"}