Kinematics Analysis of a Novel Five-Degree-of-Freedom Spatial Parallel Micromanipulator. (25th March 2014)

• Record Type: Journal Article
• Authors: Prusak, Daniel; Kobus, Konrad; Karpiel, Grzegorz
• Other Names: Li Yangmin Academic Editor.
• Is Part Of: Journal of robotics. Volume 2014(2014)
• Publication Date: 2014-03-25
• Subjects: Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1155/2014/806294
• Languages: English
• ISSNs: 1687-9600

Abstract

Abstract : A study of the inverse kinematics for a five-degree-of-freedom (DOF) spatial parallel micromanipulator is presented here below. The objective of this paper is the introduction of a structural and geometrical model of a novel five-degree-of-freedom spatial parallel micromanipulator, analysis of the effective and useful workspace of the micromechanism, presentation of the obtained analytical solutions of the microrobot's inverse kinematics tasks, and verification of its correctness using selected computer programs and computation environments. The mathematical model presented in this paper describes the behaviour of individual elements for the applied 2-DOF novel piezoelectric actuator, resulting from the position and orientation of the microrobot's moving platform.