Using CAD/CAM in the design of a robotic micromanipulator

摘要

The use of CAD/CAM techniques for the design of a micromanipulator is described. All design issues which addresses local and global objectives are analysed from the optimisation point of view. Computer simulations written in Fortran and APL, nd three large-scale software application systems, CADAM, CATIA, and CAEDS, are used to model, analyse and manufacture micromanipulator components. Both kinematic and dynamic model formulations are used to determine an improved, near optimal, design for the micromanipulator.