Research Article

An Optimized Design of New XYθ Mobile Positioning Microrobotic Platform for Polishing Robot Application Using Artificial Neural Network and Teaching-Learning Based Optimization

Table 4

Results of dynamic behavior with input displacement of 135 μm.

No.Mode shapeNatural frequency (Hz)

(1) z-axis translation102.36
(2) x-axis translation113.81
(3) z-axis translation113.9
(4) z-axis rotation154.84