| Static Stiffness Analysis of a New Type 6-DOF Micro-manipulation Robot |
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| 作者姓名： | 叶鑫 张之敬 姚灿 杨波 李媛 |
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| 作者单位： | School of Mechanical and Vehicle Engineering, Beijing Institute of Technology, Beijing 100081, China |
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| 基金项目： | 面向21世纪教育振兴行动计划(985计划) |
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| 摘 要： |
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| 关 键 词： | 机械设计 操纵性能 刚度分析 位置 |
| 文章编号： | 1673-002X（2007）02-0145-06 |
| 修稿时间： | 2006-10-13 |
Static Stiffness Analysis of a New Type 6-DOF Micro-manipulation Robot |
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| YE Xin,ZHANG Zhi-jing,YAO Can,YANG Bo,LI Yuan.Static Stiffness Analysis of a New Type 6-DOF Micro-manipulation Robot[J].Journal of China Ordnance,2007,3(2):145-150. |
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| Authors: | YE Xin ZHANG Zhi-jing YAO Can YANG Bo LI Yuan |
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| Affiliation: | School of Mechanical and Vehicle Engineering, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | A 6-DOF micro-manipulation robot based on a 3-PPTTRS mechanism is proposed in this paper. Its static stiffness is an important index to evaluate load capacity and positioning accuracy. However, it is insufficient to consider the static stiffness only when the robot is in its initial pose. The stiffness in different positions and poses in its work space must be analyzed also. Thus a method to analyze the relationship between static stiffness and poses in the whole work space is presented. A static stiffness model is proposed first, and the relationship between structural parameters and static stiffness in different poses is discussed. The static stiffness analysis provides foundation for structural parameter design. |
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| Keywords: | mechanical design 3-PPTTRS mechanism micro-manipulation robot static stiffness analysis positions and poses in work space Robot New Type Stiffness Analysis stiffness analysis foundation structural parameters parameter design model method analyze relationship different work space initial pose However static index evaluate load capacity |
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