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Design of parallelrobots in microrobotics

Published online by Cambridge University Press:  01 July 1997

Eric Pernette ,
Simon Henein ,
Ivo Magnani  and
Reymond Clavel
Eric Pernette
Affiliation:
Swiss Federal Institute of Technology, EPFL 1015, Lausanne, Switzerland. E-mail: [email protected]
Simon Henein
Affiliation:
Swiss Federal Institute of Technology, EPFL 1015, Lausanne, Switzerland. E-mail: [email protected]
Ivo Magnani
Affiliation:
Swiss Federal Institute of Technology, EPFL 1015, Lausanne, Switzerland. E-mail: [email protected]
Reymond Clavel
Affiliation:
Swiss Federal Institute of Technology, EPFL 1015, Lausanne, Switzerland. E-mail: [email protected]
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Abstract

During the past few years, there has been an increasing demand in thefield of precision engineering for fine motion in multi-degrees of freedomsystems. These applications motivated the development of a new robotics fieldcalled microrobotics. In this paper, we review both the design guidelines formicrorobots and the advantages of using parallel robots in very high precisionapplications. Parallel micromanipulators using elastic joints as well asstructures manufactured in single solid and metallic bellows areintroduced.

Keywords

Parallel micromanipulatorHighprecisionStiffnessElastic jointMonolithicstructureMetal bellowsCompliance
Type
Research Article
Information
Robotica , Volume 15 , Issue 4 , July 1997 , pp. 417 - 420
Copyright
© 1997 Cambridge University Press

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