全柔性机构在并联微动机器人中的应用

Application of the Fully Compliant Mechanism in the Parallel Micro-motion Robots

柔性机构,特别是全柔性机构以其特殊的性能在微位移、微操作、微装配等领域得到广泛应用。通过对柔性机构的特点、全柔性微动机器人与普通平面机构、平面并联机构、空间并联机构结合的例子等的介绍,对柔性机构,特别是全柔性机构在微动并联机器人领域的国内外发展现状作了较全面的介绍。指出了目前存在的若干主要问题。

The complant mechanisms, especially the fully coppliant mechanisms, are widely used in the fields of micro-motion, micromanipulation, micro-assembly etc because of its special properties. The characteristics of the compliant mechanism are described. The Fully compliant mechanism combined with the common plane mechanism, the plane parallel mechanism and the spacial parallel mechanism are introduced. The sfate-of-the-art of the compliant mechanism, especially the fully compliant mechanism, used in micro-motion parallel mechanism robots beth at home and abroad is introduced. The key problems in the field are also put forward.