| 一种3-PRRS柔性微动并联机构的运动学分析 |
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| 引用本文： | 邱冰静,程刚,顾伟. 一种3-PRRS柔性微动并联机构的运动学分析[J]. 机械传动, 2012, 0(8): 6-8 |
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| 作者姓名： | 邱冰静 程刚 顾伟 |
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| 作者单位： | 中国矿业大学机电学院 |
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| 基金项目： | 国家自然科学基金资助项目(50905180) |
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| 摘 要： | 提出一种新型的3-PRRS柔性微动并联机构以适应多自由度微位移运动的需求。以3-PRRS型微动机构为研究对象,在分析其结构特点的基础上,运用螺旋理论对其运动自由度进行了分析,建立了机构位置方程,得到了机构输入量与输出量之间的映射关系。进而基于运动学分析结果,对机构的工作空间进行仿真分析。该机构具有对称性好,结构简单,易于控制等特点。
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| 关 键 词： | 柔性微动并联机构 螺旋理论 位置方程 工作空间 |
Kinematic Characteristic Analysis of 3-PRRS Flexible Micro-manipulator Parallel Mechanism |
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| Qiu Bingjing Cheng Gang Gu Wei. Kinematic Characteristic Analysis of 3-PRRS Flexible Micro-manipulator Parallel Mechanism[J]. Journal of Mechanical Transmission, 2012, 0(8): 6-8 |
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| Authors: | Qiu Bingjing Cheng Gang Gu Wei |
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| Affiliation: | Qiu Bingjing Cheng Gang Gu Wei(College of Mechanical & Electrical Engineering,China University of Mining & Technology,Xuzhou 221116,China) |
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| Abstract: | In order to meet the demands of micro-motion with multi-degree of freedom,a novel 3-PRRS flexible micro-manipulator parallel mechanism is developed.Taking the 3-PRRSS mechanism as an analytical objective,based on the structural characteristics,the motion properties are analyzed by the screw theory,and then the position equation of the manipulator is obtained as well as the mapping relations between the input and output of the manipulator.Finally,the simulation is conducted to analyze the workspace of the manipulator.The manipulator proposed here has the merits of good symmetry,simple structure,and easy control and so on. |
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| Keywords: | Flexible micro-manipulator parallel mechanism Screw theory Position equation Workspace |
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