Kinematic Analysis of a 6-DOF Parallel Mechanism for Human-Scale Teleoperation System

摘要

There is an urgent demand for a new humanscale tele-operating system to carry out three-dimensional high-speed micromanipulations for medical and biotechnological applications. In this paper the author introduced a Human-Scale tele-operation system. The most important part is a 6 DOF parallel mechanism. The author direct solved the end platform position and get a distribution of it. At the same time, by using the strain gages the displacement of the piezo actuator is get. Then the displacement of the end platform is calculated. And we also measured the displacement with a laser sensor. At last we made a compare of the two curves.