Title :
On the design of 6-DOF parallel micro-motion manipulators
Author :
Liu, Xin-Jun ; Wang, Jinsong ; Gao, Feng ; Wang, Li-Ping
Author_Institution :
Dept. of Precision Instrum., Tsinghua Univ., Beijing, China
Abstract :
Parallel manipulators are characterized by symmetry, high precision and stiffness, which allow them to be the mechanisms of micromanipulators. This paper deals with the optimum design of micromanipulator mechanisms. A useful design tool space, named the physical model of the solution space, is proposed. The design space for 6-DOF parallel micromanipulators is established. The relationships between the performance indices and link lengths of micromanipulators are presented in the established solution space. The method described leads to a new way for the computer-aided design of micromanipulators
Keywords :
manipulator kinematics; micromanipulators; motion control; performance index; 6-DOF parallel manipulators; kinematics; link lengths; micromanipulators; motion control; performance index; solution space; Design automation; Design engineering; End effectors; Instruments; Manipulators; Manufacturing; Micromanipulators; Orbital robotics; Robotic assembly; Surges;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.973381
