摘要
利用坐标变换法,建立了新型6自由度并联微动机器人的微运动学模型,并对其运动解耦性进行分析;采用不同的初始驱动位移量和驱动方式,对该机器人的有限元模型进行分析,进一步讨论了其微运动学上的解耦性,最后对研制的微动机器人样机进行了运动解耦性测试和验证。该并联微动机器人的运动解耦,为其动力学分析、控制及其标定的简化提供了理论基础。
Utilizing the method of coordinate transformation, the micro-kinematics model of a new typed 6-DOF parallel micro-moving robot was established and an analysis on its movement decoupling was advanced. By the adoption of different initial driving amount of displacement and driving mode, an analysis on the finite element model of that robot was carried out, and a further discussion was made upon its decoupling in micro-kinematics. Finally, test and verification of movement decoupling was advanced upon the developed prototype of micro-moving robot. The movement decoupling of this parallel micro-moving robot provided a theoretical foundation for its dynamic analysis, control and its simplification of demarcation.
出处
《机械设计》
CSCD
北大核心
2003年第12期22-25,共4页
Journal of Machine Design
基金
国家高技术研究发展计划(863计划)资助项目(2001AA421280)
天津市自然科学基金资助项目(003601311)
