Analysis of kinematics of Delta parallel micromanipulator with vector space method

Delta parallel mechanism has been applied in the domain of micromanipulation since it contains only revolute joints. Kinematics of 3DOF translational parallel micromanipulator is analyzed with a vector space method. Based on Jacobian matrix, the forward and inverse kinematic singular configuration of the Delta parallel micromanipulator is also studied. The results show that the sensitivity parameters existed in Jacobian matrix affect the relation between the input and the output of the micromanipulator, and the vector space method is simple and convenient in analyzing the singularity of parallel mechanisms.