On the design of 6-DOF parallel micro-motion manipulators

In the last decades, there has been an increasing demand in the field of assembling micro machine, manipulating cell, and micro surgery. This motivated the development of a new robotics application field, micro-motion manipulators or micromanipulators. Parallel manipulators are characterized by symmetry, high precision and stiffness, which allow them to be the mechanisms of micromanipulators. This paper concerns the optimum design of micromanipulator mechanisms. A useful design tool space named the physical model of the solution space is proposed The design space for 6-DOF parallel micromanipulators is established The fact that the relationships between performance indices and link lengths of the micromanipulators are presented in the established solution space leads to performance atlases. The method used in this paper proposed a new way for the computer-aided design of micromanipulators.