摘要
为了获得足够的机器人工作空间 ,微动并联机器人平台之间的支链均采用了基于柔性铰链的微位移放大机构。本文对微位移放大机构设计方案进行仿真分析。确保压电执行器既不会被弹性力封锁 ,柔性铰链处的应力也不超过许用应力。根据仿真结果设计的微位移放大机构保证了微动并联机器人的工作性能。
In order to expand the workspace of a microro bo t, flexible hinges amplifier (HIA) were used between moving platform and fixed b ase as mechanical amplifier. The deformation of the HIA was analyzed and simulat ed to ensure that the PZT-actuator should not be blockaded and the stress at hi nges should not go beyond the limit of the working stress so that the flexible h inge amplifier can normally work. According to the simulation result,the designe d flexible hinges amplifier can ensure the succesiful manufacture of the micro- manipulator.
出处
《机械科学与技术》
CSCD
北大核心
2003年第4期595-597,共3页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金 ( 6 98850 0 0 1)
北京市发展基金项目
北京市重点实验室提供条件
