@inproceedings{8b5171fdcb0643f58215bc7dc8b80490,
title = "Model of a 3-D.O.F. spherical micromanipulator based on stick-slip",
abstract = "The theory analysis of a 3-DOF spherical Micro-manipulator in kinemics and dynamic considering the frictional condition is discussed in the paper. The manipulator is driven by the friction between the manipulator rotating sphere and the piezoelectric tube. The drive modes and the rotating plan to get a special location is studied, and then the Lagrange equation is applied in the model, and solved in numerical, getting the interrelation of some chief parameters. From the analysis, the drive effect of the friction and the principle of the manipulator's movement is clarified. From the model, an appropriate input for the manipulator can be evaluated. This proposed model is available not only for the manipulator in the paper but also for all ones based on stick-slip.",
keywords = "3-DOF manipulator, Dynamics, Kinemics, Numerical analysis",
author = "Sun, \{Li Ning\} and Sheng Wang and Yu Song and Li, \{Man Tian\}",
year = "2005",
language = "英语",
isbn = "0780390458",
series = "IEEE International Conference on Mechatronics and Automation, ICMA 2005",
pages = "1581--1585",
booktitle = "IEEE International Conference on Mechatronics and Automation, ICMA 2005",
note = "IEEE International Conference on Mechatronics and Automation, ICMA 2005 ; Conference date: 29-07-2005 Through 01-08-2005",
}