DocumentCode
2049677
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
Volume
1
fYear
2001
fDate
2001
Firstpage
343
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location
Maui, HI
Print_ISBN
0-7803-6612-3
Type
conf
DOI
10.1109/IROS.2001.973381
Filename
973381
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