Referenced Items are not available for this document.
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
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:7
,
Issue:
5
)
Date of Publication: Oct 1991
- Page(s):
- 634 - 641
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 4058497
- Digital Object Identifier :
- 10.1109/70.97875
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Oct 1991
- Sponsored by :
- IEEE Robotics and Automation Society
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