新型基于6-PSS三维平台机构的并联微动机器人

A Novel Parallel Micro-motion Manipulator Based on 6-PSS Three-dimensional Platform Mechanism

提出一种新颖的基于 6 - PSS并联三维平台机构的微动机器人并介绍其结构布局特点 ,应用 Jacobian矩阵和力 Jacobian矩阵的子阵 ,分别对其线速度与角速度和力与力矩的各项同性进行了分析计算 ,并建立显式的微位移正解和反解方程 ,为其设计和使用提供理论依据。分析计算结果表明 ,该微动机器人算法与控制简单 ,微位移解耦和速度与力各向同性 ,具有最佳的运动和力传递性能。

In this paper, a novel micro-motion manipulator based on 6-PSS parallel three-dimensional platform mechanism is presented. The layout feature of the micro-motion manipulator is described. By using the submatrices of Jacobian matrix and force Jacobian matrix, the linear velocity isotropic index, angular velocity isotropic index, force isotropic index and torque isotropic index of the micro-motion manipulator are analyzed, respectively. The direct and inverse explicit displacement equations are derived,which provides theoretical base for its optimal design and application. Finally, it is shown that the novel micro-motion manipulator is characterized by simple algorithm and control, decoupling micro-displacements and mechanics and kinematics isotropy. Its properties of the force and motion transmission are optimum.