Title :
Dynamics analysis of a 6-DOF serial-parallel micromanipulator
Author :
Shoujie, Wang ; Guanghua, Zong ; Shusheng, Bi ; Wei, Zhao
Author_Institution :
Robotics Res. Inst., Beijing Univ. of Aeronaut. & Astronaut., China
Abstract :
A new dexterous 6-DOF two-stage serial-parallel micromanipulator is described. The kinematics of this mechanism are analyzed with the method of vector analysis, and some advantages are also discussed. Inertia forces, moments of inertia and elastic potential energy are also analyzed. The dynamics of the SP mechanism has been modeled using a Lagrangian approach
Keywords :
dexterous manipulators; manipulator dynamics; manipulator kinematics; micromanipulators; 6-DOF serial-parallel micromanipulator; Lagrangian approach; dexterous two-stage micromanipulator; dynamics analysis; elastic potential energy; inertia forces; kinematics; kinetic energy; moments of inertia; potential energy; vector analysis method; Acceleration; Aerodynamics; Biomedical engineering; Bismuth; Micromanipulators; Parallel robots; Potential energy; Robot kinematics; Scanning electron microscopy; Vectors;
Conference_Titel :
Micromechatronics and Human Science, 1997. Proceedings of the 1997 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-4171-6
DOI :
10.1109/MHS.1997.768879
