2007•Dianzi Ke-ji Daxue xuebaoRequires access

Kinematics Analysis for a 4-DOF Parallel Micromanipulator

Shouwen Fan

Abstract

Kinematics characteristics of a 4-DOF micromanipulator using 2RPS+2TPS type parallel mechanism are analyzed in this paper. According to the characteristics of micro-motion, direct and inverse kinematics equations are formulated using differential transformation, and Jacobian matrix of the input/output displacement is derived, which can be considered as a constant matrix over the entire range of minute motion. Direct and inverse velocity equation and acceleration equation are also obtained explicitly. This research work provides theoretical foundations for analysis of dynamics and control of the micromanipulator.

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Available abstract

Key concepts: Micromanipulator, Jacobian matrix and determinant, Kinematics, Inverse kinematics, Displacement (psychology), Control theory (sociology), Acceleration, Inverse