Kinematics Analysis of a Novel Five-Degree-of-Freedom Spatial Parallel Micromanipulator

Figure 1

Structure of a 5-DOF spatial parallel micromanipulator: ①: moving platform, ②, ⑥, and ⑧: revolute joint, ③: connector, ④: actuator shaft, ⑤: stator, ⑦: support, and ⑨: microrobot’s base.