Journal
JOURNAL OF ROBOTIC SYSTEMS
Volume 19, Issue 2, Pages 63-72Publisher
WILEY
DOI: 10.1002/rob.1070
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This paper concerns the development of a class of devices that generate end-effector motion in the range of less than 100 gm and with sub-nanometer resolution; in particular, a parallel manipulator configuration that generates a planar x-y-gamma motion is considered. The parallel manipulator is implemented as a compliant mechanism. A problem with parallel manipulators is that the forward kinematics is usually too complex, which can hinder the implementation of advanced control algorithms. The contribution of this paper is that a simple method, called the constant-Jacobian (Q) method, is developed based on the pseudo-rigid body (PRB) approach to compliant mechanisms. The experiment validates the CJ method. (C) 2002 John Wiley Sons, Inc.
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