On the basis on the end users/applications, this report focuses on the status and outlook for major applications/end users, sales volume, market share and growth rate of Booster Manipulator for each application, including-

where, [??][member of] [R.sup.n], [??][member of][R.sup.n] and q [member of][R.sup.n] are the angular acceleration, velocity and position of the manipulator 's joints respectively, M (q) [member of] [R.sup.n] is the symmetric positive definite inertia matrix, [tau] [member of] [R.sup.n] is the control input torque of the joints, C (q, [??])[member of][R.sup.n] expresses the Coriolis matrix, G (q) [member of][R.sup.n] symbolizes the gravity force, [F.sub.r] (q, [??])[member of][R.sup.n] stands for the viscous and Coulomb friction force and finally [[tau].sub.d] [member of] [R.sup.n] denotes the lumped disturbance.

where q, [??], [??] are respectively the position, velocity and acceleration of the manipulator joint angle respectively, D meaning the inertia matrix, B representing the centripetal and coriolis force matrix, N standing for the friction and gravity matrix, [tau] being the control moment.

The kinematic scheme of the parallel manipulator in consideration is drawn in Fig.

In Section 3, dynamics stability and coupling characteristics of the system due to manipulator movements are analyzed.

In Section 2, a classification of six-degrees-of-freedom parallel mechanisms based on the number of base and manipulator platform joints as well as combinatorial classes is introduced.

As mentioned above section, the manipulator for radiosurgery needs 5-DOF joints in minimum to deliver a linear accelerator, so the lengths of the links should be optimized for its operation.

Robot manipulator is presented by subsystem uArm on the first level.

The trajectory of manipulator end-effector in the task space can be expressed as

Defining x = [([q.sup.T], [[??].sup.T]).sup.T] and considering (7), the uncertain robot manipulator dynamics (1) can be written as

The battle lines between the apex regulator of the stock market and the market manipulators have now been drawn.