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In this paper, design and control issues for the development of miniaturized manipulators which are aimed to be used in high precision assembly and manipulation tasks are presented. The developed manipulators are size adapted devices, miniaturized versions of conventional robots based on wellknown kinematic structures. 3 degrees of freedom (DOF) delta robot and a 2 DOF pantograph mechanism enhanced with a rotational axis at the tip and a Z axis actuating the whole mechanism are given asdoi:10.1109/amc.2012.6197027 dblp:conf/amc/KuntNS12 fatcat:ilrczcyxfjbyndwunkhk3m7iqq