Theory and practice: micro manipulating robot

The kinematics of micro manipulating robot is analyzed deeply in this paper. An important feature of micro robot is discovered. i.e. characteristic matrix is a constant matrix. The direct and inverse input/output displacement equation, velocity equation, acceleration equation are obtained explicitly. It makes the analysis of the kinematics, dynamic and the control of micro manipulating robot very convenient. Through analyzing the parallel and built-up micro manipulating robot developed by the authors, the validity of the characteristic matrix is tested and varied. Also the specification of the micro manipulating robot is presented. It has wide prospect in many high technology fields