Rigid 6×6 parallel platform for precision 3-D micromanipulation: theory and design application

@article{Portman2000Rigid6P,
  title={Rigid 6×6 parallel platform for precision 3-D micromanipulation: theory and design application},
  author={V. T. Portman and B.-Z. Sandler and E. Zahavi},
  journal={IEEE Trans. Robotics and Automation},
  year={2000},
  volume={16},
  pages={629-643}
}
A new type of 6 6 parallel platform mechanism—designated a “rigid platform”—characterized by very high stiffness and a high degree of accuracy is described. Two new structural concepts are proposed for obtaining high stiffness and accuracy. 1) The joints between the changeable links and the platform and between the changeable links and the base are designed as welded joints. 2) Microactuators for controlled elongation of the legs use controlled longitudinal elastic deformations of the legs… CONTINUE READING
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