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0) shown in Figure 11 are similar with respect to the maximum displacement. This results from the constant eccentricity of the spokes of one mm. From these the discrete prototype using only steel as bearing and spokes provides the maximal torque. The new amplification system has a tripled force compared with the first insert moulding prototype and also improves the amplification. 6 mm with the new displacement amplification system allowed us improving the displacement further up to over 700 µm.

IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, Vol. 36, No. 3, (May 1989), pp. 307-312, ISSN 08853010. Yu, Z. , (2002) Piezoelectric and strain behavior of Ba(Zr1-xZrx)O3 ceramics, Journal of Applied Physics, Vol. 92, (August 2002) pp. 1489-1493, ISSN 00218979 Zhang, B. P. (2006) Compositional dependence of piezoelectric properties in NaxK1-xNbO3 lead-free ceramics prepared by spark plasma sintering, Journal of the American Ceramic Society, Vol. 89, No. 5, (May 2006) pp.

The number of the driving chains in this case is defined by the difference (9) as: m = i. The kinematic structures defined as a result of synthesis for n0=2, 3 and i =1, 2 according Table 1 are shown graphically in Table 4 on the left. On the right of Table 4 the possible kinematic structures are shown for case i =1, 2 and the number of the links of basic parallel chain n 0B = 3. Table 4. Synthesised closed kinematic structures for case B) and for case C) Synthesis of kinematics schemes for micro- & nano-manipulation tasks based on the synthesised structures.

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