摘要
分析了2RPS+2TPS型四自由度并联微操作机器人机构的运动学特性;采用微分法推导了微位移增量矩阵的一般表达式以及输入、输出位移的雅可比矩阵;建立了微操作机器人的运动学方程、速度方程、加速度方程的显式正逆表达式,为微操作机器人的动力学与控制研究奠定了理论基础。
Kinematics characteristics of a 4-DOF micromanipulator using 2RPS＋2TPS type parallel mechanism are analyzed in this paper. According to the characteristics of micro-motion, direct and inverse kinematics equations are formulated using differential transformation, and Jacobian matrix of the input/output displacement is derived, which can be considered as a constant matrix over the entire range of minute motion. Direct and inverse velocity equation and acceleration equation are also obtained explicitly. This research work provides theoretical foundations for analysis of dynamics and control of the micromanipulator.
出处
《电子科技大学学报》
EI
CAS
CSCD
北大核心
2007年第1期150-153,共4页
Journal of University of Electronic Science and Technology of China
