Title :
Kinematic analysis of a 6-DOF parallel mechanism for human-scale teleoperation system
Author :
Xiao, Nan ; Guo, Shuxiang
Author_Institution :
Fac. of Eng., Kagawa Univ., Kagawa, Japan
Abstract :
There is an urgent demand for a new human-scale tele-operating system to carry out three-dimensional high-speed micromanipulations for medical and biotechnological applications. In this paper the author introduced a Human-Scale tele-operation system. The most important part is a 6 DOF parallel mechanism. The author direct solved the end platform position and get a distribution of it. At the same time, by using the strain gages the displacement of the piezo actuator is get. Then the displacement of the end platform is calculated. And we also measured the displacement with a laser sensor. At last we made a compare of the two curves.
Keywords :
biotechnology; medical robotics; micromanipulators; piezoelectric actuators; robot kinematics; telecontrol; 6-DOF parallel mechanism; biotechnological applications; human-scale teleoperation system; kinematic analysis; laser sensor; medical applications; piezo actuator displacement; three dimensional high-speed micromanipulations; Automation; Biosensors; Capacitive sensors; Electrostatic actuators; Genetic engineering; Humans; Kinematics; Mechatronics; Microactuators; Transistors; forward analysis; micro operation; parallel mechanism; strain gage;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5246359
