摘要
以并联 6 -PSS 3维平台机构为原型 ,用柔性铰链替代球铰 ,用柔性框架替代直线移动副 ,设计了一种新颖的并联 3 - 2 - 1结构的 6自由度微操作手。介绍其结构特点 ,推导出输入输出微位移方程并对其承载能力进行分析 ,为其设计和使用提供理论依据。这种微操作手具有分辨率高 ,微位移解耦 。
In this paper,using flexure hinges and flexible frames to replace real spherical joints and prismatic joints respectively, the design of a novel micromanipulator based on 6-PSS parallel three-dimensional platform mechanism is presented. The layout feature of the micromanipulator is also described. The input/output micro-displacement equations are derived explicitly and the payload properties of the micromanipulator are studied, which provides theoretical basis for its optimal design and application. Finally, it is shown that the novel micromanipulator is characterized by high resolution, decoupling micro-displacements and simple control algorithm.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2002年第2期105-108,共4页
China Mechanical Engineering
基金
天津市自然科学基金资助项目 ( 0 0 360 1311)
高等学校骨干教师资助计划项目
关键词
微操作手
并联机构
微位移
承载能力
micromanipulator parallel mechanism micro-displacement payload
