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Inventi Impact: Robotics

Articles

  • Inventi:erb/87/14
    KINEMATICS ANALYSIS OF A NOVEL FIVE-DEGREE-OF-FREEDOM SPATIAL PARALLEL MICROMANIPULATOR
    30-Jun-2014 Research 2014 : July - September
    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\nobjective of this paper is the introduction of a structural and geometrical model of a novel five-degree-of-freedom spatial parallel\nmicromanipulator, analysis of the effective and useful workspace of the micromechanism, presentation of the obtained analytical\nsolutions of the microrobot�s inverse kinematics tasks, and verification of its correctness using selected computer programs and\ncomputation environments. The mathematical model presented in this paper describes the behaviour of individual elements for\nthe 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\nGrzegorz Karpiel, â??Kinematics Analysis of a Novel Five-Degree-of-\nFreedom Spatial Parallel Micromanipulator,â? Journal of Robotics,\nvol. 2014, Article ID 806294, 13 pages, 2014.\ndoi:10.1155/2014/806294.\n\nCopyright © 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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