KINEMATICS ANALYSIS OF THE SERIAL PARALLEL MICROMOTION MANIPULATOR

In the paper a new micromotion serial parallel mechanism is proposed.It has 6 degrees of freedom and features a 3 RPS in parallel actuated module mounted on the moving plate of another 3 RRR in parallel actuated platform.The kinematics is investigated with the method of vector analysis,and some advantages are also discussed.Based on these characteristics,the prototype of the micromotion manipulator is presented.