A three degree of freedom micro-motion in-parallel actuated manipulator

作者: Kok-Meng Lee , Shankar Arjunan

DOI: 10.1007/978-94-011-1818-7_9

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摘要: The development is described of a three-degree-of-freedom (DOF) micro-motion in-parallel actuated manipulator, which has one translation and two orientation degrees freedom. manipulation achieved by piezoelectric effects, due to their fast response high resolution. In particular, closed-form solution an experimental verification the forward kinematics are given. addition, dynamic model piezoelectrically-actuated link was determined experimentally, providing rational basis for design prismatic-joint force control high-speed manipulator. A special configuration approaches optimal in terms working range, rigidity, bandwidth highlighted. >

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