基于制造工艺性的正交结构微操作并联机器人一体化结构设计

Unitary Structure Design of Parallel Micro-manipulators with Perpendicular Structures Base on Processing Characteristics

提出了微操作并联机器人的一体化结构设计,论述了一体化结构的特点和设计原则,分析了正交结构微操作并联机器人机构特性,给出了微操作并联机器人一体化结构设计步骤,以正交结构6-PSS微操作并联机器人一体化结构为例讨论了其工艺性,最后给出了其它正交结构微操作并联机器人一体化结构.

Unitary structure design of parallel micro-manipulator is proposed and its characteristic and design principle are described. Considered the mechanism character of parallel micro-manipulators with perpendicular structures, the steps to design them are given. Finally, processing characteristics of the unitary structure are discussed with an example of a 6-PSS parallel micro-manipulator with perpendicular structures, and unitary structures of the other parallel micro- manipulators are given.