Delta并联微操作手运动学的矢量法分析

Analysis of Kinematics of Delta Parallel Micromanipulator with Vector Space Method

利用矢量运算的方法 ,分析了三维平动Delta并联微操作手的运动学特性 .基于雅可比矩阵的可逆性 ,研究了Delta并联机构的正逆运动奇异性问题 .研究表明 ,微操作手的雅可比矩阵中存在灵敏参数 ,灵敏参数的大小及方位影响着位移输入与输出间的关系 ;利用矢量运算方法进行运动学奇异性问题分析更为简洁和直接 .

Delta parallel mechanism has been applied in the domain of micromanipulation since it contains only revolute joints. Kinematics of 3DOF translational parallel micromanipulator is analyzed with a vector space method. Based on Jacobian matrix, the forward and inverse kinematic singular configuration of the Delta parallel micromanipulator is also studied. The results show that the sensitivity parameters existed in Jacobian matrix affect the relation between the input and the output of the micromanipulator, and the vector space method is simple and convenient in analyzing the singularity of parallel mechanisms.