并联微操作手运动空间分析

Workspace Analysis of the Parallel Micromanipulator

工作空间分析是设计微操作手的一个重要因素。对微操作手的定姿态工作空间和不定姿态工作空间进行研究：对定姿态工作空间采用一维搜索法求得边界点;对不定姿态工作空间，利用微操作手的激动特性，使用MonteCarlo法求得工作空间的边界曲面。用实例进行仿真计算，同时考察结构参数对工作空间的影响，得到一些规律性的变化关系，结果可以指导微操作手实际结构参数的确定。

Workspace analysis is an important factor in the micromanipulator design,the fixed pose workspace and the varied pose workspace of the micromanipulator are studied respectively in this paper. The boundary points of the fixed pose workspace are obtained by using the one dimension searching method,the boundary layers of the varied pose workspace are found by using Monte Carlo method- Finally,an example is given by computer simulation. The influence of the configuration parameters on the workspace is also discussed and some regular conclusions are drawn. These conclusions can be used to guide the design of the micromanipulator.