Synthesis of Parallel Micromanipulators

Abstract

A synthesis method has been developed for the parallel micromanipulator used in a precise positioning. Elastic deformation at notches are used as joint displacements. Since the joint displacements are very small and the micromanipulator makes only a minute motion, the input/output relation can be put in the form of a Jacobian. Each row of the Jacobian designates six elements of a force and moment. By locating the passive joints in a connecting chain so that the virtual work done by the force/moment and the virtual displacement of the passive joints becomes zero, the mechanism that has the given Jacobian is determined. Planar and spatial mechanisms whose Jacobians are diagonal matrices are shown as examples of the synthesis.