Since surgery is usually a difficult task because of physiological tremor, eye strain, contagious and radioactive hazard, it is necessary to develop micro-surgery telerobotic system using improved tools suitable for their specific tasks. This thesis studies an efficient in-parallel-platform manipulator having special kinematic structure suitable for microsurgery. After investigating the motion of microsurgery, we studies suitable kinematics and features of the manipulator. The proposed manipulator consists of three internal links, three external links and a conic moving upper platform. The six links of this mechanism provide 6 DOFs(Degrees of Freedom). The main advantages of this manipulator, compared with the typical Stewart platform type, are the existence of two forward kinematic solutions, one singular configuration and no local minima within workspace, that reduce computational load. In addition, this manipulator has larger Euler angle range than the Stewart platform. When three internal links are fixed, this manipulator uses only 3 external links to give three rotational freedom. In this thesis, new measures are used to determine design parameters and singular configurations. With these measures, physical meaning of manipulator's motion and singularity of decoupled translation and rotation have been explained.
To confirm the feasibility of the proposed manipulator, 3D graphic simulator model and the kinematic prototype have been constructed. The proposed manipulator has potential in a wide range of applications from surgery robots to highly dexterous wrist mechanism of micro-manipulators.
