The optimizing design for enhancement of the micro performance of manipulator based on analytical models is investigated in this paper. By utilizing the established uncanonical linear homogeneous equations, the quasi-static analytical model of the micro-manipulator is built, and the theoretical calculation results are tested by FEA simulations. To provide a theoretical basis for a micro-manipulator being used in high-precision engineering applications, this paper investigates the modal property based on the analytical model. Based on the finite element method, with multipoint constraint equations, the model is built and the results have a good match with the simulation. The following parametric influences studied show that the influences of other objectives on one objective are complicated. Consequently, the multi-objective optimization by the derived analytical models is carried out to find out the optimal solutions of the manipulator. Besides the inner relationships among these design objectives during the optimization process are discussed.
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