Abstract
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.
| Original language | English |
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| Pages (from-to) | 2183-2188 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| Publication status | Published - 1999 |
| Externally published | Yes |
| Event | Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA Duration: 10 May 1999 → 15 May 1999 |