新型6-PSS微操作机器人的加速度性能指标分析

The analysis of acceleration index for a novel parallel 6-PSS micromotion manipulator

提出一种基于并联 6 -PSS机构的新型微操作机器人 ,建立其速度、加速度输入输出方程 ,并定义其加速度性能指标 ,分析其加速度性能指标与机构几何参数关系 ,为设计和使用该微操作机器人提供理论依据。

A novel parallel 6-PSS micromotion manipulator is presented.The velocity equation and the acceleration equation are obtained with the theory of parallel robotic mechanisms.The acceleration index of the manip ulator is defined.The relationships between the acceleration index and the link lengths of the manipulator are analyzed,which is useful for the optimal design and application of the manipulator.