摘要
本文对作者设计的一种六自由度激动机构进行了位移分析，该机构由３条ＰＰ－Ｒ－Ｓ支链并联而成，为消除间隙，每条链的运动副都设计成柔性铰链。本文用坐标变换方法求出了机构的输入输出微位移关系。由于柔性铰链的运动范围受材料强度的限制，文中还建立了柔性铰链微小角位移与机构输出位移的关系，以上关系式为六自由度激动机构的结构设计提供了计算依据。
his paper developes a method for the kinematic analysis of a six-degree-of-freedom mechanismfor micromotion. The mechanism has three PP-R-S parallel chains in which all the kinematic pairs are de-signed as flexure kinges to avoid mechanical clearance, By means of coordinate transformation,the relation-ship between the input and the output micro-displacements of the mechanism is obtained. Because the rangeof motion of the flexure hinges is limited by material intensity, the micro-displacements of the flexure hingesare also established in relation to the output micro-displacements for the purpose of design.
出处
《机器人》
EI
CSCD
北大核心
1995年第5期298-302,308,共6页
Robot
基金
国家自然科学基金
