Kinematic Analysis of the Characteristics of Translational XYZ Micro Parallel Manipulator

병진운동을 하는 XYZ 마이크로 병렬형 머니퓰레이터의 기구학적 특성 분석

  • 김은석 (한양대학교 대학원 기계설계학과) ;
  • 양현익 (한양대학교 기계경영공학과)
  • Published : 2007.04.01


In this study, a 3-DOF XYZ micro parallel manipulator utilizing compliance mechanism is developed and analyzed. In so doing, a matrix method is used to rapidly solve displacements of the designed kinematic structure, and then kinematic characteristics of the developed manipulator are analyzed. Finally, the design analysis of the kinematic characteristics by changing hinge thickness and structure to improve workspace and translation motion is performed to show that the performance of the developed manipulator is relatively superior to the other similar kind of manipulators.


Micro Parallel Manipulator;Flexure Hinge;Metrix Method;Compliance Mechanism


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