Aspects concerning CAD models for reconfigurable NaPaMan

The trend to miniaturization in the field of objects assembly and manipulation is leading to increasing demand for devices that can precisely position and assemble micro components with an accuracy of less than one micrometer. Therefore the interest of designing such robots that are able to successfully succeed with these operations is also increasing. For this kind of operations, hybrid structures are recommended. The hybrid structure is composed of two components; the first one is a parallel reconfigurable component which is able to succeed operations with micrometer precision and the second one is a serial component constituted with the use of piezo actuators and is capable to realize operations with nanometer precision. The main interest of this paper is describing the basic design of a robot with hybrid architecture for precision assembly and manipulation but is focused mainly on its parallel component.