The Reducible Design of 6-DOF Parallel Micro Manipulator Based on Screw Theory

This paper investigated the design method for 6-DOF parallel micro-manipulators (PMMs) with isotropic/decoupled performances by studying the incidence relationship between outputs and inputs. First, The concept of reducible design is defined, and by using the proposed incidence matrix, the depiction of the incidence relationship between outputs and inputs of 6DOF PMMs is given. Then, the classification of incidence matrix is shown, and the relation between incidence matrix and Jacobian matrix is discussed based on screw theory. Finally, an example is included to illustrate the application of the method, and the way how to design 6-DOF micro-manipulator with isotropic/ decoupled performances is also presented. The method used in the paper to design the 6-DOF PMMs with prescribed incidence relationship between outputs and inputs is simple and systematic.