Development of a new type of 6-DOF parallel micro-manipulator and its control system

Author

Gao, Feng ; Jianjun, Zhang ; Yulong, Chen ; Zhenlin, Jin

Author_Institution

Parallel Robotics Res. Center, Hebei Univ. of Technol., Tianjin, China

Volume

2

fYear

2003

fDate

8-13 Oct. 2003

Firstpage

715

Abstract

Presently, there are only a few types of mechanisms used in parallel micro-manipulators. In this paper, a new type of 6-DOF parallel micro-manipulator, which adopts a 6-PSS parallel mechanism with decoupling structure, is proposed. The main mechanical structure including base, end-effector, all linkages and flexible joints of the manipulator is a unitary part of design and manufacture. On the other hand, we developed a six-dimension controller based on six-dimension force or moment sensor of Stewart structure, which controls the robots by feeling each other between man and the machine. Then we discuss the precision analyzing and kinematics calibration. At last, a sample machine of the 6-DOF micro-manipulator is given, and some remarkable problems during the system development are proposed.

Keywords

end effectors; flexible manipulators; force sensors; manipulator kinematics; mechanical variables control; micromanipulators; 6 DOF parallel micromanipulator; 6 PSS parallel mechanism; Stewart structure; decoupling structure; end effector; flexible manipulator joints; mechanical structure; micromanipulator control system; precision analysis; robot kinematics calibration; six dimension controller; six dimension force sensor; six dimension moment sensor; Control systems; Couplings; Flexible manufacturing systems; Force control; Force sensors; Kinematics; Manipulators; Mechanical sensors; Robot control; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on

Print_ISBN

0-7803-7925-X

Type

conf

DOI

10.1109/RISSP.2003.1285672

Filename

1285672