  This paper evaluates how laminated techniques may be used to replicate the
performance of more traditionally manufactured robotic manipulators. In this
case study, we introduce a laminated 2-DOF spherical, parallel manipulator.
Taking advantage of laminating techniques in the construction of the robot can
result in considerable saving in construction costs and time, but, the
challenges caused by this technique have to be addressed. By using stiffer
materials in rigid links, the rigidity of the robot is increased to an
acceptable level. We discuss one method for compensating position uncertainty
via an experimental identification technique which uses a neural network to
create a forward kinematic model. Final results show that the proposed
mechanism is able to track desired rotation with acceptable precision using
open-loop model-based control. This indicates that parallel manipulators
fabricated using lamination techniques can provide similar performance with
prototypes made in conventional methods.
