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

<table>Cabri 3D geometric model of micromanipulator with indicated angular translation <svg height="12.4375" id="M103" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 8.9125004 12.4375" width="8.9125004" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg> of piezoelectric drive.</table>

Journal of Robotics

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Figure 7

Figure 7: Kinematics Analysis of a Novel Five-Degree-of-Freedom Spatial Parallel Micromanipulator 