摘要
针对微操作及微装配需求,研制了一种采用四分压电陶瓷管驱动的球基微操作器,建立了不同驱动方式下球基的运动学模型,分析了球基微操作器实现空间3自由度转动的运动学问题,给出了Adams仿真实验与系统测试实验结果,验证了模型与分析的正确性.
This paper presents a spherical micro-manipulator actuated by piezoelectric tubes, which is used in precise positioning. The kinematics modeling with different actuating modes is given and the kinematics analyses about the 3-dimension rotation of the spherical micro-manipulator is discussed. The results of Adams simulation and system experiments are validated.
出处
《高技术通讯》
CAS
CSCD
北大核心
2006年第9期919-923,共5页
Chinese High Technology Letters
基金
863计划（2004AA404190）资助项目.
关键词
球基微操作器
运动学分析
ADAMS仿真
spherical micro-manipulator, kinematics analysis, Adams simulation
