Analysis of a fully-parallel six degree-of-freedom micromanipulator

A micromanipulator is a small-amplitude, high-resolution motion device that can be incorporated into an existing robotic system (typically between the wrist and end-effector) to provide fine adjustments for precise error compensation and delicate force control. The micromanipulator system presented is based on a fully-parallel six-legged platform mechanism with six rotary inputs. The paper addresses the kinematic analysis and dynamic model formulation for this mechanism. A displacement analysis procedure based on simple geometric principles is given. Influence-coefficient-based modeling techniques are used to derive the first- and second-order kinematic and dynamic equations.<>