• The Journal of Korean Institute for Practical Engineering Education
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• v.3 no.1
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• pp.193-199
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• 2011

In this paper, we propose a novel manipulator intended for the needs of telerobotic micromanipulation. We designed an original manipulator capable of performing fine motion with an accuracy greater than $2{\mu}m$, while remaining simple in design and easy in control. Preliminary calculations of manipulator accuracy have been conducted, and the device has been designed and manufactured accordingly. The accuracy of the proposed manipulator has been verified during the series micro-positioning experiments under different types of controllers, and the results proved that the manipulator is suitable for micromanipulation applications as a part of telerobotic system. The proposed manipulator has been compared to existing analogues by several parameters, and both its advantages and disadvantages have been discussed.