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Abstract:
What kind of parallel mechanism suitable for micromanipulation is the
crux of an argument in the domain of micromanipulators. The study
situation of parallel micromanipulators is analyzed. The motion
characteristics of micromanipulator are studied according to scaling
laws of geometry. How to select the degree of freedom of
micromanipulation is discussed combined with micromanipulation tasks,
environment and scales of the manipulated objectives. The result shows
that 3 DOF translational parallel mechanism is suitable for
micromanipulation.
Key words: Micromanipulation Parallel mechanism Degree of freedom
CLC No: TP24
国家自然科学基金资助项目(59975002). Received 20020830, received in revised
form 20021030
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