Research on Novel Reconfigurable Modular Parallel Micromanipulators

摘要

A category of reconfigurable modular parallel micromanipulators, whose structures are decoupled are proposed. According to the structure theory of parallel micromanipulators, 3-6DOFs (Degrees of Freedom) parallel micromanipulators are constructed with the different kinetic limb modules, and can accomplish the different tasks. Because they are accurately assembled by monolithic kinetic limb modules comprising elementary flexible pairs, two technical problems in the traditional design are solved; one is completely assembling robots can bring the big assembly errors and another is the monolithic design make the machining difficult.