Abstract
A miniaturized parallel manipulator with 6 degrees of freedom has been developed for manipulating small-scale mechanical parts. A hand-operated hexapod-type mechanism remotely actuates another hexapod mechanism through six steel wires. This report firstly describes the design for the link configuration to the same motions between the master and slave manipulators. Secondly,the master-slave manipulator system consisting of fixed-length links and magnet spherical joints was manufactured. In the experiment,non-contact laser displacement sensors measured positioning error and motion errors of the slave's end-effector when the moving platform of the master was moved in ±3mm. As a result,submillimeter-order lost motion and hysteresis were observed during the positioning.
