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Selected research profiles conducted at the University of Macau.
1. A 3-PRC translational parallel manipulator with intersecting guideways (left) and orthogonal guideways (right) to achieve XYZ translations in 3-D space. (P: Prismatic joint, R: Revolute joint, C: Cylindrical joint)
 2. A 3-PCR translational parallel manipulator with intersecting guideways (left) and orthogonal guideways (right) to achieve XYZ translations in 3-D space. A more compact design can be obtained than a 3-PRC type. 
3. Conceptual design and prototyping a medical parallel robot employing a translational parallel maniplator for cardiopulmonary resuscitation (CPR).  4. Conceptual design of a mobile parallel manipulator (MPM) (left) and multi-MPM for the cooperative manipulation of a heavy object (right).
 5. An XY flexure-based compliant parallel micropositioning stage with a pretty simple structure yet coupled motions.
 6. A piezo-driven flexure-based XY parallel micropositioning stage with nearly decoupled translational motion. The build-in strain gauge sensor in the PZT eliminates its nonlinearities. The output motions are monitored by a CCD camera via an optical microscope, and a visual servo control is implemented.
 7. A piezo-driven flexure-based XY parallel micropositioning stage with the totally decoupled property. The two PZTs are isolated and protected, so the inputs are decoupled, and the two output translational motions are decoupled as well. The output motions are measured by laser displacement sensors and various types of control schemes have been constructed and implemented to compensate for the nonlinearities introduced by PZTs including hysteresis, creep, and drift effects, etc.
 8. A flexure-based XYZ parallel micropositioning stage designed for the manipulation of micro/nano-scale objects.
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