Design of a 6 DOF HFM manipulator using an external spherical joint

Abstract

A new type of 5 Degrees of Freedom (DOF) modular mirror manipulator with independent adjustability had been developed at the Pohang Accelerator Laboratory. The design of the mirror manipulator was extended to a 6 DOF mirror manipulator by adding yaw adjustability. It also became applicable to mirrors that are set up laterally by replacing its mirror holder with a new L-shaped mirror holder. The moment necessary for yaw adjustment was calculated and the independent adjustability of yaw rotation was examined, (C) 2001 Elsevier Science B.V. All rights reserved.