| 狭窄空间内微小摄像头位姿调整并联机构的研究 |
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| 引用本文： | 李旻 翟宇毅 章亚男 龚振邦. 狭窄空间内微小摄像头位姿调整并联机构的研究[J]. 机械科学与技术, 2004, 23(3): 312-315 |
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| 作者姓名： | 李旻 翟宇毅 章亚男 龚振邦 |
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| 作者单位： | 华南理工大学,机械工程学院,广洲,510641;上海大学,机电工程与自动化学院,上海,200072 |
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| 基金项目： | 国家自然科学基金重点项目 ( 698890 5 0 1)，国家 863计划项目 ( 863 5 12 980 5 16)资助 |
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| 摘 要： | 提出了一种新型的并联机构———三自由度 3 CSR并联机构 ,建立了其模型 ,讨论了运动学位姿正反解的求解方法和摄像头的运动空间 ,制作了用形状记忆合金弹簧驱动的并联机构样机 ,实验证明这种并联机构能在狭窄空间内灵活地调整摄像头的位姿
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| 关 键 词： | 机器人 并联机构 位姿 运动学 形状记忆合金 检测 |
| 文章编号： | 1003-8728(2004)03-0312-04 |
Micro Parallel Mechanism for Adjusting the Attitude of a Camera in Narrow Space |
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| LI Min ,ZHAI Yu-yi ,ZHANG Ya-nan ,GONG Zhen-bang. Micro Parallel Mechanism for Adjusting the Attitude of a Camera in Narrow Space[J]. Mechanical Science and Technology for Aerospace Engineering, 2004, 23(3): 312-315 |
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| Authors: | LI Min ZHAI Yu-yi ZHANG Ya-nan GONG Zhen-bang |
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| Affiliation: | LI Min 1,ZHAI Yu-yi 2,ZHANG Ya-nan 2,GONG Zhen-bang 2 |
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| Abstract: | A new kind of micro parallel mechanism is presented. The structure and model of the 3-CSR parallel mechanism is discussed. The solutions to the position and attitude of the movable platform in direct and indirect kinematics are given and the working space of the micro CCD(Charge Coupled Device) camera is investigated. A prototype actuated by SMA springs was made. Experiment results testify that the mechanism can effectively adjust the pose of a micro CCD camera in narrow space. |
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| Keywords: | Parallel mechanism Attitude Kinematics SMA(Shape Memory Alloy ) Inspection |
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