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�������պ����ѧѧ�� 2003, Vol. 29 Issue (4) :339-341    DOI:
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Analysis of Kinematics of Delta Parallel Micromanipulator ��with Vector Space Method
Bi Shusheng, Zong Guanghua*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics

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Abstract�� Delta parallel mechanism has been applied in the domain of micromanipulation since it contains only revolute joints. Kinematics of 3DOF translational parallel micromanipulator is analyzed with a vector space method. Based on Jacobian matrix,the forward and inverse kinematic singular configuration of the Delta parallel micromanipulator is also studied. The results show that sensitivity parameters existed in Jacobian matrix affect the relation between the input and the output of the micromanipulator, the vector space method is simple and convenient in analyzing the singularity of parallel mechanisms.
Keywords�� kinematics   robots   vector space method   parallel mechanism     
Received 2002-01-15;


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������, �ڹ⻪.Delta����΢�������˶�ѧ��ʸ��������[J]  �������պ����ѧѧ��, 2003,V29(4): 339-341
Bi Shusheng, Zong Guanghua.Analysis of Kinematics of Delta Parallel Micromanipulator ��with Vector Space Method[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2003,V29(4): 339-341
http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2003/V29/I4/339
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