Kinematics and Dynamics Analysis of a Hybrid Parallel-Serial Micromanipulator Designed for Biomedical Applications

Abstract—This paper presents the kinematic and dynamic analysis of a robot for 6 Degrees Of Freedom (DOF) microma-nipulation. This robot is designed for performing intraocular manipulation but its application is not limited to ophthalmic surgery. The novel hybrid parallel-serial mechanism designed for this robot enables microscale motions with high stiffness and sufficient output forces. This portable robot can be easily integrated into standard biomedical environments and does not require any modification of conventional surgical tools. The contribution of this work is a novel design of a miniature micromanipulator comprising piezo actuator based parallel coupled joints which allow adjustable Remote Center of Motion (RCM). The advantages of the introduced mechanism compared to similar mechanisms are compactness, stiffness and simplicity of mathematical computation. I