Development of the parallel manipulator workspace display system for tele-micromanipulation

A dexterous tele-micromanipulation system using haptic interfaces has been developed for the application in assembling electrical/optical parts for electrical devices, micro-machine, etc. The paper describes the development of visual operation support systems for tele-micromanipulation systems. Because of its better manipulation positioning accuracy, stiffness and speed characteristics, a parallel mechanism micromanipulator was chosen for our system. While the parallel manipulator has the above-mentioned merit, there is the disadvantage that the parallel mechanism´s workspace is narrow and the translation motion workspace changes depends on the posture of end-effector. Providing workspace information in real time to the human operator, he can recognize the workspace and helps planning the micromanipulation process. A parallel manipulator motion is restricted by three factors: mechanical limits of the passive joints, collision between the links and actuators limitations. Results of numerical workspace analysis considering the above factors are shown. Based on the workspace analysis, a VR simulator and workspace display systems for micromanipulator are proposed. The feasibility of the use of a workspace display system for micromanipulation is then discussed