Development of a mini-PKM

In this work, the development of a mini-robot with over all dimensions of few centimeters cube and promising applications in the optical and high-precision field is presented. It is based on parallel kinematic architecture (PK) and consists on a mobile platform which can translate vertically along the axis normal to the base plane and rotates alternatively around the two other orthogonally axes. The feasibility study of such a system by means of micro cutting process is here presented. The investigation highlights the main critical issues in manufacturing and assembly of micro systems. Finally, main issues concerning the control of such a mini PKM are pointed out