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A three-degrees-of-freedom micromotion in-parallel actuated manipulator

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2 Author(s)
Kok-Meng Lee ; George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA ; Arjunan, Shankar

The development of a three-degree-of-freedom (DOF) micromotion in-parallel actuated manipulator is discussed. The micromotion manipulator, which has one translation and two orientation freedoms, is actuated by piezoelectric effect. A closed-form solution and an experimental verification of the forward kinematics are presented. In addition, the dynamic model of the piezoelectric actuated link was determined experimentally, providing a rational basis for the design and prismatic joint force control of the high-speed micromotion manipulator. A special configuration that approaches an optimal design, in terms of working range, rigidity, and bandwidth, is highlighted

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Robotics and Automation, IEEE Transactions on  (Volume:7 ,  Issue: 5 )