Abstract
A compact 3-DOF micro-finger manipulator based on micro parallel kinematics structure is presented in this paper, which uses three piezo-electric actuators and two flexure joints - one is revolute joint and the other is ball joint - as its main mechanism. The problem of inverse kinematics between end effector position and actuator displacements along with the jacobian matrix for this design is derived. A glass needle of 10cm length is used as the end effector to increase the workspace of the micro-manipulator. The design parameters are chosen so that we can obtain a large workspace volume as much as possible. The simulation results illustrates that the proposed model has a large workspace and in the same time small in size.
