Schematic structure of a 3-DOF mini-manipulator. ... gap between adjacent motors agt; 0.003m, by transforming from overall requirements of the system to torque and speed requirements for each motor. ... Mechatronic System, aquot; International Journal of Information Acquisition, Vol. 1, No. 1, pp. 89-99, 2004.  C.W. de Silva, ... Translated into English by Ann S. Schwier (197V, Manual of Political Economy, anbsp;...