摘要
微操作机器人的静力分析对其结构设计和驱动器的选择有重要意义。介绍了一种新型并联微操作机器人的结构布局特点 ,基于推导出的力输入输出关系矩阵的奇异分解 ,对其静力和力矩传递性能及其与结构几何参数的关系进行了分析。结果表明 ,该微操作机器人的静力和力矩传递性能可以分别用两个圆球直观表征 。
It is significant for the architecture design and the selection of the actuators to research statics of a micro-motion manipulator. In this paper, the layout feature of a novel micro-motion manipulator is described. Based on the singularity resolution of its input/output relationship matrices derived by us, the static force transmission properties and the relationships between the properties and the link lengths are analyzed. Finally, it is shown that the static force and moment transmission properties of the micro-motion manipulator can be indicated intuitivly by two spheres, so the static force and moment transmission properties of the micro-motion manipulator is characterized by isotropy.
出处
《机械传动》
CSCD
2001年第2期11-12,15,共3页
Journal of Mechanical Transmission
关键词
微操作机器人
并联结构
力矩传递性
静力分析
MEMS
Parallel architecture Micro-motion manipulator Force and moment transmission property
