微型机械手的机构分析

微夹持技术的关键是针对各种不同的夹持对象及其夹持要求和特点，设计并研制出性能各异的微机械手、微夹钳等、所阐述的微机械手采用了形状记忆效应驱动的方案和整体式的机械设计，工作可靠，夹持力可控。

Mechanical Analysis on Micro Manipulator

The technology of micro clamping is necessary in course of microoperation. The key problem is to develop some micro manipulators and micro grippers that have various performances according to the different clamping objects, clamping requirements and clamping characteristics. In order to work reliable and to control the clamping force, shape memory actuator and entire design have need adopted. This paper is focusing on the theoretical analysis of transmission and clamping force. Numerical calculation and experimental results are also described in this paper.