15 October 2001 Parallel manipulator for micro-assembly and micromachining
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Proceedings Volume 4601, Micromachining and Microfabrication Process Technology and Devices; (2001) https://doi.org/10.1117/12.444722
Event: International Symposium on Optoelectonics and Microelectronics, 2001, Nanjing, China
Abstract
This paper presents a five DOF parallel manipulator. It consists of a four-DOF parallel manipulator and a rotate table. This kind of manipulator can be used in the field of micro machining and micro assembly. It owns all the advantage of parallel structure such as high stiffness, small dimension, low cost and high accuracy. Commonly the direct kinematics solution of a parallel structure is very difficult to solve, because it comes down to getting the answers of several connected nonlinear equations. While that problem becomes very easy for our five DOF parallel machine tool because we use some special parameters to determine the spatial position of the end-effector. That results in the convenience of analyzing the kinematical characteristic.
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Xuezhong Wu, Yulie Wu, Shengyi Li, "Parallel manipulator for micro-assembly and micromachining", Proc. SPIE 4601, Micromachining and Microfabrication Process Technology and Devices, (15 October 2001); doi: 10.1117/12.444722; https://doi.org/10.1117/12.444722
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