Inverse Kinematics of a New Five Degree-of-freedom Spatial Parallel Micromanipulator
نویسنده
چکیده
A study of the kinematic characteristics for the five degree-of-freedom (DOF) spatial parallel micromanipulator is presented. The objective of this work is to introduce for the first time a structural and geometrical model of a novel five degree-of-freedom spatial parallel micromanipulator, the analysis of the effective and useful workspace of the micromechanism, present the obtained analytical solutions of the microrobot’s inverse kinematics tasks and verification of its correctness using computer programs and computation environments. The received mathematical model describes the behaviour of individual elements for the applied 2 DOF piezoelectric actuator, resulting from the translation and orientation of the microrobot’s platform.
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