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Volume 29 Issue 4
Apr.  2003
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Journal of Beijing University of Aeronautics and Astronautics  > 2003  >  29(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 Astronautics, 2003, 29(4): 339-341. (in Chinese)
Citation: Bi Shusheng, Zong Guanghua. Analysis of Kinematics of Delta Parallel Micromanipulator with Vector Space Method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2003, 29(4): 339-341. (in Chinese)
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Analysis of Kinematics of Delta Parallel Micromanipulator with Vector Space Method

  • School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics

  • Received Date: 15 Jan 2002
  • Publish Date: 30 Apr 2003
    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.

     

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  • [1] Tsai L W. Multi-degree-of-freedom mechanism for machine tools and the like . U.S. Patent Pending:08/415,1995 [2] Tsai L W, Walsh G C, Stamper R E. Kinematics of a novel three DOF translational platform . Proceedings of the 1996 IEEE International Conference on Robotics and Automation . Minnesota, 1996. 3446~3451 [3] Stamper R E, Tsai L W, Walsh G C. Optimization of a three DOF translational platform for well-conditioned workspace . Proceedings of the 1997 IEEE International Conference on Robotics and Automation . Minnesota, 1997. 3250~3255
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