Title :
Design and analysis of a 3-DOF micromanipulator
Author :
Nielsen, James ; Tanikawa, Tamio ; Arai, Tatsuo
Author_Institution :
Dept. of Robotics, Mech. Eng. Lab., Ibaraki, Japan
Abstract :
A unique design for a 3-DOF micromanipulator is presented. The new design contains only revolute joints, and it incorporates rotation of the upper platform of the mechanism, which effectively uses the length of the end-effector to increase workspace volume. The forward and inverse kinematics problems for the device are solved, and a method for calculating the Jacobian is presented. Finally, a prototype of the manipulator was fabricated and tested experimentally to compare with the theoretical results
Keywords :
Jacobian matrices; manipulator kinematics; micromanipulators; 3-DOF micromanipulator; end-effector; forward kinematics; inverse kinematics; revolute joints; Fingers; Glass; Jacobian matrices; Kinematics; Laboratories; Manipulator dynamics; Mechanical engineering; Micromanipulators; Prototypes; Robots;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770430
