The optimizing design for enhancement of the micro performance of manipulator\nbased on analytical models is investigated in this paper. By utilizing the established\nuncanonical linear homogeneous equations, the quasi-static analytical model of the\nmicro-manipulator is built, and the theoretical calculation results are tested by FEA\nsimulations. To provide a theoretical basis for a micro-manipulator being used in\nhigh-precision engineering applications, this paper investigates the modal property based\non the analytical model. Based on the finite element method, with multipoint constraint\nequations, the model is built and the results have a good match with the simulation. The\nfollowing parametric influences studied show that the influences of other objectives on one\nobjective are complicated. Consequently, the multi-objective optimization by the\nderived analytical models is carried out to find out the optimal solutions of the manipulator.\nBesides the inner relationships among these design objectives during the optimization process\nare discussed.
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