Design, Analysis and Control of Sensory based End-effector for Micro/Nano Manipulation

To study the behaviour of flexures and flexure-based displacement transmission and amplification mechanisms with an aim of understanding and gathering knowledge. To formulate and establish the mathematical and computational modelling for kinematics, statics, and dynamics of flexure-based mechanisms with a focus of illustrating the influence of the design parameters. To establish methodologies for identifying the undesired motion due to inherent characteristics of geometry, manufacturing errors, and uneven symmetrical deformation errors of flexures. To investigate and examine the performance of microgripper mechanisms utilising the high precision measurement and sensing techniques, and to develop integrated sensory-based intelligent and efficient control schemes.