From Fourier topology representation to optimal robot: evolution of an ultrahigh performance XYθ_z nanopositioner.

ABSTRACT: XYθ_z nanopositioners are robots that can deliver precise translations along the X- and Y-axes and rotations about the Z-axis via elastic deformation of their compliant bodies. Although the performance of these robots is critical across a vast range of microscopy technologies, biomedical research and industrial applications, existing XYθ_z nanopositioners are unable to optimize their workspace, disturbance rejection capabilities, speed and positioning resolutions. This is because their stiffness ratios are limited to 0.5-248 and their mechanical bandwidths are restricted to 70 Hz when they can deflect more than 2 mm. Here we use a unique combination of kinematic analyses and evolutionary algorithms to determine our robot's optimal geometry in which its structural topolo

SUBMITTER: Lyu Z 

PROVIDER: S-EPMC12332153 | biostudies-literature | 2025 Aug

REPOSITORIES: biostudies-literature