摘要
A 6-DOF micro-manipulation robot based on a 3-PPTTRS mechanism is proposed in this paper.Its static stiffness is an important index to evaluate load capacity and positioning accuracy.However,it is insufficient to consider the static stiffness only when the robot is in its initial pose.The stiffness in different positions and poses in its work space must be analyzed also.Thus a method to analyze the relationship between static stiffness and poses in the whole work space is presented.A static stiffness model is proposed first,and the relationship between structural parameters and static stiffness in different poses is discussed.The static stiffness analysis provides foundation for structural parameter design.
A 6-DOF micro-manipulation robot based on a 3-PPTTRS mechanism is proposed in this paper. Its static stiffness is an important index to evaluate load capacity and positioning accuracy. However, it is insufficient to consider the static stiffness only when the robot is in its initial pose. The stiffness in different positions and poses in its work space must be analyzed also. Thus a method to analyze the relationship between static stiffness and poses in the whole work space is presented. A static stiffness model is proposed first, and the relationship between structural parameters and static stiffness in different poses is discussed. The static stiffness analysis provides foundation for structural parameter design.
基金
Sponsored by the Second Phase of"985 Project"
关键词
机械设计
操纵性能
刚度分析
位置
mechanical design
3-PPTTRS mechanism
micro-manipulation robot
static stiffness analysis
positions and poses in work space
