Design and kinematic analysis of a workspace adjustable micro-manipulator

摘要

In the paper the authors introduced a human-scale tele-operating system for biomedical applications. The core of the system is a 6 DOF parallel mechanism which is used as the micro manipulator in the system. The workspace and resolution of the micro manipulator could be adjusted. In order to get the characters of the micro manipulator, kinematic analysis is given and verified by experiments.