Six-DOF micro-manipulator based on compliant parallel mechanism with integrated force sensor

This paper describes the design of a micro-scale manipulator based on a six-DOF compliant parallel mechanism (CPM), which is featured by piezo-driven actuators and integrated force sensor capable of delivering six-DOF motions with high precision and providing real-time force information for feedback...

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Bibliographische Detailangaben

Veröffentlicht in:	Robotics and computer-integrated manufacturing 2011-02, Vol.27 (1), p.124-134
Hauptverfasser:	Liang, Qiaokang, Zhang, Dan, Chi, Zhongzhe, Song, Quanjun, Ge, Yunjian, Ge, Yu
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Compliant parallel mechanism Force sensor Guidelines Industrial robots Jacobians Manipulators Mathematical models Micro-manipulator Real time Sensors Stiffness mapping Workspace
Online-Zugang:	Volltext
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