A camera for observing the working area of the precision manipulator “Commander6” was integrated for automated pick up of optical components.

For systematically designing tripod kinematics based on flexures for higher precision and step resolution a design methodology was worked out for realizing the design objective of a defined work space considering constraints and secondary design objectives.

First measurements of repeatability and dynamic behaviour such as overshoot were carried out with four laser tracers which allow precise measurements in a large workspace.