Design of a 6-DOF compliant manipulator based on serial-parallel architecture

被引：0
|
作者：
Chao, DH [1 ]
Zong, GH [1 ]
Liu, R [1 ]
机构：
[1] Beihang Univ, Robot Inst, Beijing 100083, Peoples R China
来源：
2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2 | 2005年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A novel dexterous 6DOF manipulator serially connected by two compliant parallel stages is presented in this paper. The upper stage is a 3-RPS mechanism and the lower one is a 3-RRR mechanism. In virtue of the method of the physical model of the solution space, optimal design of the lower stage has been accomplished. Then, the calibration of the lower stage is undergoing by means of an ultra-precision vision system. The experiment shows that the lower stage possesses workspace of 120 mu m x 130 mu m x 18mrad with the resolution of 50nm, 50nm, 18arcsec, respectively. This manipulator is to be used as a fiber optics aligner.
引用
收藏
页码：765 / 770
页数：6
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