摘要
A unique design for a 3-DOF micromanipulator is presented. The new design contains only revolute joints, and it incorporates rotation of the upper platform of the mechanism, which effectively uses the length of the end-effector to increase workspace volume. The forward and inverse kinematics problems for the device are solved, and a method for calculating the Jacobian is presented. Finally, a prototype of the manipulator was fabricated and tested experimentally to compare with the theoretical results.
| 源语言 | 英语 |
|---|---|
| 页（从-至） | 2183-2188 |
| 页数 | 6 |
| 期刊 | Proceedings - IEEE International Conference on Robotics and Automation |
| 卷 | 3 |
| 出版状态 | 已出版 - 1999 |
| 已对外发布 | 是 |
| 活动 | Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA 期限: 10 5月 1999 → 15 5月 1999 |
指纹
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Nielsen, J., Tanikawa, T., & Arai, T. (1999). Design and analysis of a 3-DOF micromanipulator. Proceedings - IEEE International Conference on Robotics and Automation, 3, 2183-2188.