六自由度微动机构的运动分析

详细信息

KINEMATIC ANALYSIS OF A SIX-DEGREE-OF-FREEDOM MICROMOTION PARALLEL MECHANISM

1.
Chinese Helicopter Research and Developments Institute, Jingdezhen 333001
2.
Robot Research Institute, Beijing University of Aeronautics & Astronautics 100083

摘要: 本文对作者设计的-种六自由度激动机构进行了位移分析，该机构由3条PP-R-S支链并联而成，为消除间隙，每条链的运动副都设计成柔性铰链．本文用坐标变换方法求出了机构的输入输出微位移关系．由于柔性铰链的运动范围受材料强度的限制，文中还建立了柔性铰链微小角位移与机构输出位移的关系，以上关系式为六自由度激动机构的结构设计提供了计算依据．
- 机器人 /
- 微动平台 /
- 并联机构
Abstract: his paper developes a method for the kinematic analysis of a six-degree-of-freedom mechanismfor micromotion. The mechanism has three PP-R-S parallel chains in which all the kinematic pairs are designed as flexure kinges to avoid mechanical clearance, By means of coordinate transformation,the relation-ship between the input and the output micro-displacements of the mechanism is obtained. Because the rangeof motion of the flexure hinges is limited by material intensity, the micro-displacements of the flexure hingesare also established in relation to the output micro-displacements for the purpose of design.
- Robot /
- micromotion-platform /
- parallel mechanism

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