摘要
设计一种新颖的六自由度并联微操作机器人，推导出其位置正反解方程并对其微位移传递性进行分析，为其合理结构布局形式的设计提供理论依据，这种微动机器人具有微位移解耦和微位移传递各向同性等优点。
In this paper, the design of a novel 6-DOF micro-motion ma nipulator is presented. The direct and inverse displacement equations are derived explicitly and its properties of the micro-displacements t ransmission are studied, which provides theoretical base for its reaso nable structure design. Finally, it is shown that the novel micro-moti on manipulator is characterized by decoupling micro-displacements and isotropic properties of the micro-displacements transmission.
出处
《燕山大学学报》
CAS
2002年第1期23-26,共4页
Journal of Yanshan University
基金
燕山大学科技发展基金资助项目(YDJJ2006)
关键词
六自由度微操作机器人
正交并联机构
位置分析
DOF micro-motion manipulator, orthogonal parallel mech anism, position analysis.
