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Volume 24 Issue 3
Mar.  1998
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Journal of Beijing University of Aeronautics and Astronautics  > 1998  >  24(3): 342-345.
Yan Caixia, Zhan Qiang, Lu Zhenet al. Fault tolerance of parallel manipulator with actuation or structure redundancy[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(12): 1407-1411. (in Chinese)
Citation: Bi Shusheng, Zong Guanghua. Accuracy Analysis of Micromanipulator[J]. Journal of Beijing University of Aeronautics and Astronautics, 1998, 24(3): 342-345. (in Chinese)
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Accuracy Analysis of Micromanipulator

  • Beijing University of Aeronautics and Astronautics,Dept. of Mechanical and Electrical Engineering

  • Received Date: 22 Jan 1997
  • Publish Date: 31 Mar 1998
    Abstract
  • Two types mechanism of micromanipulator appeared in recent years. It is the serial mechanism and the parallel mechanism. They possess their respective strong and weak points. Based on the complementary law, one new type which is called Serial-parallel Mechanism is presented in this paper. In order to evaluate the effects of the structural parameter errors upon the pose accuracy, a vector arithmetic method is applied to establish the relations between the pose accuracy and manufacturing tolerances, actuation errors, and connection errors of two stages. The sensitivity parameters affecting the micromanipulator pose are discussed. And some results which are very useful to the design and manufacture of the micromanipulator are derived. The analysis method can also be used on the accuracy analysis of other type parallel or serial-parallel mechanisms.

     

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    • References(1)
  • 1 .Fukuda T,Fujiyoshi M. Design and dextrous control of micromanipulator with 6 DOF. Proceeding of the 1991 IEEE International Conference on Robotics and Automation. Sacramento,1991.1628~1633 2. Arai T. Calibration and basic motion of a micro hand module. Proceedings of the IECON'93.1993.1660~1665 3. Lee K M,Arjunan S. A three degrees of freedom micromotion in-parallel actuated manipulator.IEEE Transactions on Robotics and Automation,1991,7(5):634~641 4. Ropponen T,Arai T. Accuracy analysis of a modified stewart platform manipulator.IEEE International Conference on Robotics and Automation.1995.521~524
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