Design and Analysis of a Novel 3D Decoupled Manipulator Based on Compliant Pantograph for Micromanipulation

A novel 3D compliant manipulator for micromanipulation is introduced based on pantograph linkage. The proposed manipulator provides decoupled 3DOF translational motions. The key design feature is the use of parallelograms, which maintain the orientation of the end-effector fixed. The proposed manipu...

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Veröffentlicht in:	Journal of intelligent & robotic systems 2017-07, Vol.87 (1), p.43-57
Hauptverfasser:	Elgammal, Abdullah T., Fanni, Mohamed, Mohamed, Abdelfatah M.
Format:	Artikel
Sprache:	eng
Schlagworte:	Artificial Intelligence Control Electrical Engineering Engineering Finite element method Flexing Gears Hinges Linearity Mathematical analysis Mechanical Engineering Mechatronics Micromanipulation Pantographs Parallelograms Robotics
Online-Zugang:	Volltext
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