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Inventi Impact - Robotics

Articles

  • Inventi:erb/87/14
    KINEMATICS ANALYSIS OF A NOVEL FIVE-DEGREE-OF-FREEDOM SPATIAL PARALLEL MICROMANIPULATOR
    Daniel Prusak, Konrad Kobus, Grzegorz Karpiel

    Astudy of the inverse kinematics for a five-degree-of-freedom(DOF) spatial parallel micromanipulator is presented here below.The objective of this paper is the introduction of a structural and geometrical model of a novel five-degree-of-freedom spatial parallel micromanipulator, analysis of the effective and useful workspace of the micromechanism, presentation of the obtained analytical solutions of the microrobot’s inverse kinematics tasks, and verification of its correctness using selected computer programs and computation environments. The mathematical model presented in this paper describes the behaviour of individual elements for the applied 2-DOF novel piezoelectric actuator, resulting from the position and orientation of the microrobot’s moving platform.

    How to Cite this Article
    CC Compliant Citation: Daniel Prusak, Konrad Kobus, and Grzegorz Karpiel, “Kinematics Analysis of a Novel Five-Degree-of- Freedom Spatial Parallel Micromanipulator,” Journal of Robotics, vol. 2014, Article ID 806294, 13 pages, 2014. doi:10.1155/2014/806294. Copyright © 2014 Daniel Prusak et al. This article is distributed under the Creative Commons Attribution License(http://creativecommons.org/licenses/by/3.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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