Title :
Kinematic and Dynamic Modeling of 3-DOF Micro-motion Manipulators
Author :
Li, Kunquan ; Wen, Rui
Author_Institution :
Dept. of Mech. & Eng., Henan Inst. of Eng., Zhengzhou, China
Abstract :
A method of deriving the forward kinematic and dynamic models through the particular 3 DOF (RRR) parallel micromanipulation device is presented. By established the linear kinematical modeling and dynamic model of a 3-DOF compliant micro-motion manipulator, an optimal design case is studied, the derivation process is in generality and can be implemented for other types of 3 DOF micromanipulator basing on this work.
Keywords :
manipulator dynamics; manipulator kinematics; micromanipulators; 3-DOF micromotion manipulators; dynamic modelling; kinematic modeling; Automation; Civil engineering; Fasteners; Kinematics; Manipulator dynamics; Mathematical model; Mechanical variables measurement; Mechatronics; Micromanipulators; Particle measurements; 3-DOF micro-motion manipulation; dynamic modeling; kinematic modeling; optimal design;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2010 International Conference on
Conference_Location :
Changsha City
Print_ISBN :
978-1-4244-5001-5
Electronic_ISBN :
978-1-4244-5739-7
DOI :
10.1109/ICMTMA.2010.823
