| 3-PRS微操作器的运动学性质分析 |
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| 引用本文： | 李剑锋,刘德忠,潘新文,费仁元. 3-PRS微操作器的运动学性质分析[J]. 中国机械工程, 2003, 14(14): 1194-1196,1239 |
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| 作者姓名： | 李剑锋 刘德忠 潘新文 费仁元 |
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| 作者单位： | 北京工业大学 |
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| 基金项目： | 国家自然科学基金资助项目(6988500 160 2 750 31)，北京市先进制造技术重点实验室开放基金资助项目(KP010 0 2 0 0 2 01) |
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| 摘 要： | 分析了3-PRS微操作器的运动特性，给出了微操作运动的位置公式，并以微位移矩阵条件数及工作空间体积值为度量指标分析了微操作器操作性能与结构参数间的关系。分析表明，条件数取决于操作针长度Le及动平台半径ra之比，且当二者的比值小于5时微操作器具有较好的操作灵巧性；工作空间体积值主要受操作针长度Le动静平台半径ra、rb的影响，且在Le及rb取定值时随ra的减小而增大；支链杆长L对工作空间体积值影响不大。相关的分析结果可应用于3-PRS微操作器的运动学设计。
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| 关 键 词： | 3－PRS微操作器 运动分析 灵巧性 工作空间 |
| 文章编号： | 1004-132Ⅹ(2003)14-1194-03 |
Kinematic Property Analysis of a 3-PRS Micromanipulator |
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| Li Jianfeng. Kinematic Property Analysis of a 3-PRS Micromanipulator[J]. China Mechanical Engineering, 2003, 14(14): 1194-1196,1239 |
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| Authors: | Li Jianfeng |
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| Abstract: | In this paper, the kinematic characteristics of a 3-RPS micromanipulator are investigated, the position equation is derived and the relationship between operation property and structural parameters is studied by using the condition number of micro displacement matrix and workspace volume as the evaluation indices. The analysis results indicate: condition number varies with the ratio of operation needle length L e to movable platform radiusra r a , and the manipulator obtains better dexterity when the ratio is less than 5. The workspace volume is affected by operation needle length, base and movable platform radiuses r b and r a . While L e and r b keep constant the workspace volume becomes larger as r a changes smaller. In addition, sub-chain length L has little effect on the workspace volume. These results can be used in kinematic design of the 3-PRS Micro Manipulator. |
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| Keywords: | PRS micromanipulator kinematic analysis dexterity workspace |
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