Modeling and experimental study of a novel 3-RPR parallel micro-manipulator
We proposed a novel 3-RPR parallel micro-manipulator driven by PZT actuators. The kinematics of 3-RPR mechanism and single RPR chain are studied. The relationship between PZT displacement and end-pose is derived. Experiment shows the ability to achieve trajectories with high accuracy.
micro-manipulator kinematics parallel mechanism stiffness modeling trajectory experiment