On the design of 6-DOF parallel micro-motion manipulators

Parallel manipulators are characterized by symmetry, high precision and stiffness, which allow them to be the mechanisms of micromanipulators. This paper deals with the optimum design of micromanipulator mechanisms. A useful design tool space, named the physical model of the solution space, is proposed. The design space for 6-DOF parallel micromanipulators is established. The relationships between the performance indices and link lengths of micromanipulators are presented in the established solution space. The method described leads to a new way for the computer-aided design of micromanipulators.