Five axis direct-drive mini-robot having fifth actuator located at non-adjacent joint

摘要: A substantially balanced, five-axis, direct drive mini-robot provides repeatable micro-manipulation to micron precision. Dynamic forces of each link are nearly decoupled from the dynamic remaining links. The robot is generally formed as a shoulder, arm and wrist assembly. At shoulder linear actuator drives in horizontal movement along first axis (e.g., z axis). Two additional actuators at provide revolute motion rotate an xz plane for lateral motion) yz vertical motion), respectively. fourth rotational move end-effector (manipulator) through yaw motion. fifth actuator, positioned linked wrist, pitch