| 新型6—PSS微操作机器人的静力分析基础研究 |
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| 引用本文： | 金振林,高峰.新型6—PSS微操作机器人的静力分析基础研究[J].机械传动,2001,25(2):11-12,15. |
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| 作者姓名： | 金振林 高峰 |
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| 作者单位： | 1. 燕山大学机械工程学院
2. 河北工业大学机械工程学院 |
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| 摘 要： | 微操作机器人的静力分析对其结构设计和驱动的选择有重要意义。介绍了一种新型并联微操作机器人的结构布局特点，基于出的办输入输出关系矩阵的奇异分解，以其静力和力矩传递性能及其与结构几何参数的进行了分析。结果表明，该微操作机器人的静力和力矩传递性能可以分别用两个圆球直观表征，所以该微操作机器人的静力和力矩传递性能是各向同性的。
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| 关 键 词： | 微操作机器人 并联结构 力矩传递性 静力分析 MEMS |
| 文章编号： | 1004-2539(2001)02-0011-02 |
Basic Study of Static Analysis for a Novel Parallel 6-PSS Micro-motion Manipulator |
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| Jin Zhenlin,et al..Basic Study of Static Analysis for a Novel Parallel 6-PSS Micro-motion Manipulator[J].Journal of Mechanical Transmission,2001,25(2):11-12,15. |
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| Authors: | Jin Zhenlin |
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| Abstract: | It is significant for the architecture design and the selection of the actuators to research statics of a micro-motion manipulator. In this paper, the layout feature of a novel micro-motion manipulator is described. Based on the singularity resolution of its input/output relationship matrices derived by us, the static force transmission properties and the relationships between the properties and the link lengths are analyzed. Finally, it is shown that the static force and moment transmission properties of the micro-motion manipulator can be indicated intuitivly by two spheres, so the static force and moment transmission properties of the micro-motion manipulator is characterized by isotropy. |
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| Keywords: | Parallel architecture Micro-motion manipulator Force and moment transmission property |
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