Model of a 3-D.O.F. spherical micromanipulator based on stick-slip

The theory analysis of a 3-DOF spherical micro-manipulator in kinematics and dynamic considering the frictional condition is discussed in the paper. The manipulator is driven by the friction between the manipulator rotating sphere and the piezoelectric tube. The drive modes and the rotating plan to get a special location is studied, and then the Lagrange equation is applied in the model, and solved in numerical, getting the interrelation of some chief parameters. From the analysis, the drive effect of the friction and the principle of the manipulator's movement is clarified. From the model, an appropriate input for the manipulator can be evaluated. This proposed model is available not only for the manipulator in the paper but also for all ones based on stick-slip.