| KINEMATICS FEATURE ANALYSIS OF A 3-DOF COMPLIANT MECHANISM FOR MICRO MANIPULATION |
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| 作者姓名： | Yu Jingjun
Hu Yida
Bi Shusheng
Zong Guanghua
Robotics Institute Beijing University of Aeronautics
and Astronautics Beijing China
Zhao Wei |
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| 作者单位： | Yu Jingjun
Hu Yida
Bi Shusheng
Zong Guanghua
Robotics Institute，Beijing University of Aeronautics
and Astronautics，Beijing 100083，China
Zhao Wei
Department of Mechanical Engineering，University of Saskatchewan，Saskatoon SK S7N 5A9，Canada |
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| 基金项目： | This project is supported by National Natural Science Foundation of China (No.59775002 and No.50075010). |
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| 摘 要： | Kinematics and its related issues of a 3-DOF in-parallel compliant mechanism are focused on. The micro manipulation application that requires high accuracy is developed. Design of the developed micromanipulator is based on the modified Delta mechanism. The main advantages of this manipulator are the use of only revolute flexure hinges and the capability to produce pure translation theoretically. The aim is to develop an efficient kinematic model used for positioning control. For this purpose, the Jacobian matrix relating the end effector position with the actuator displacements is obtained by both theoretical derivation and experiment. Aiming at the abnormality in the motion capabilities of the micromanipulator found in calibration experiment, the mobility of the compliant mechanism on a theoretical level is analyzed by using the matrix method and screw theory. Both the experimental and theoretical results have verified that the compliant mechanism does have rotational motion.
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| 关 键 词： | 微机械 微操纵器 3-DOF 运动学 运动分析 从动机构 |
KINEMATICS FEATURE ANALYSIS OF A 3-DOF COMPLIANT MECHANISM FOR MICRO MANIPULATION |
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| Yu Jingjun
Hu Yida
Bi Shusheng
Zong Guanghua
Robotics Institute,Beijing University of Aeronautics
and Astronautics,Beijing ,China
Zhao Wei.KINEMATICS FEATURE ANALYSIS OF A 3-DOF COMPLIANT MECHANISM FOR MICRO MANIPULATION[J].Chinese Journal of Mechanical Engineering,2004,17(1):127-131. |
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| Authors: | YuJingjun HuYida BiShusheng ZongGuanghua ZhaoWei |
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| Affiliation: | [1]RoboticsInstitute,BeijingUniversityofAeronauticsandAstronautics,Beijing100083,China [2]DepartmentofMechanicalEngineering,UniversityofSaskatchewan,SaskatoonSKS7N5A9,Canada |
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| Abstract: | Kinematics and its related issues of a 3-DOF in-parallel compliant mechanism are focused on. The micro manipulation application that requires high accuracy is developed. Design of the developed micromanipulator is based on the modified Delta mechanism. The main advantages of this manipulator are the use of only revolute flexure hinges and the capability to produce pure translation theoretically. The aim is to develop an efficient kinematic model used for positioning control. For this purpose, the Jacobian matrix relating the end effector position with the actuator displacements is obtained by both theoretical derivation and experiment. Aiming at the abnormality in the motion capabilities of the micromanipulator found in calibration experiment, the mobility of the compliant mechanism on a theoretical level is analyzed by using the matrix method and screw theory. Both the experimental and theoretical results have verified that the compliant mechanism does have rotational motion. |
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| Keywords: | Compliant mechanism Kinematics Calibration Mobility |
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