摘要
微动操作机器人在精密制造、生物技术和微创医疗等领域中发挥着日益重要的作用。本文对3-PRR微动操作机器人进行了研究,考虑柔性铰链在非功能方向上的变形,利用齐次变换矩阵和材料力学方法,建立3-PRR微动操作机器人输入力和输出位移之间的关系,求出了其刚度矩阵,并在此基础上研究了该微动操作操作机器人的工作空间。最后通过有限元分析,证明本文提出的方法的有效性,为类似的微动操作机器人分析提供了简便精确的方法。
Micro-motion manipulator is playing a more and more important role in areas such as precise manufacturing,biological technology and micro surgery,etc.In this paper a 3-PRR micro-motion manipulation is studied.The relationship between input forces and output displacements are derived by homogeneous transformation matrix method and material mechanics.The deformations of the flexure hinges in non-functional direction are considered in this progress.Based on the derived stiffness matrix,the workspace of the manipulator is given.Finally,the validity of the method is verified the finite element analysis which provides an easy and accurate way to analyze similar micro-motion manipulators.
出处
《机械设计与研究》
CSCD
北大核心
2011年第2期15-18,21,共5页
Machine Design And Research
基金
国家自然科学基金资助项目(30770538)
关键词
微动操作机器人
并联机构
柔性铰链
刚度矩阵
工作空间
micro-motion manipulator
parallel mechanism
flexure hinges
stiffness matrix
workspace
