Development of a redundant macro-micro manipulator for compliant motion

The development of a redundant macro-micro manipulator for compliant motion is discussed. Redundant macro-micro manipulators under an appropriate control scheme can have numerous advantages including: suitability to compliant motion using micro manipulators, and a wide motion range as a result of macro manipulators. However, we have to design these mechanisms carefully in order to obtain the desired merits of this system, because the performance of the control scheme is affected by the properties of this mechanism. In this paper, the development of a micro manipulator for a given macro manipulator is presented. The experimental results show how the developed mechanism produces compliant motion