| 新型基于6—PSS三维平台机构的并联微动机器人 |
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| 引用本文： | 金振林,高峰.新型基于6—PSS三维平台机构的并联微动机器人[J].仪器仪表学报,2001,22(6):566-569. |
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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,秦皇岛,066004
2. 河北工业大学,天津,300130 |
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| 基金项目： | 系天津市自然科学基金(003601311)和国家教委骨干教师资助项目. |
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| 摘 要： | 提出一种新颖的基于6－PSS并联三维平台机的微动机器人并介绍其结构布局特点，应用Jacobian矩阵和力Jacobian矩阵的子阵，分别对其线速度与角速度和力与力矩的各项同性进行了分析计算，并建立显式的微位移正解和反解方程，为其设计和使用提供理论依据。分析计算结果表明，该微动机器人算法与控制简单，微位移解耦和速度与力向向同性，具有最佳的运动和力传递性能。
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| 关 键 词： | 微动机器人 并联三维平台结构 并联机构 各项同性 |
| 修稿时间： | 2000年6月1日 |
A Novel Parallel Micro-motion Manipulator Based on 6-PSS Three-dimensional Platform Mechanism |
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| Jin Zhenlin,Gao Feng.A Novel Parallel Micro-motion Manipulator Based on 6-PSS Three-dimensional Platform Mechanism[J].Chinese Journal of Scientific Instrument,2001,22(6):566-569. |
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| Authors: | Jin Zhenlin Gao Feng |
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| Affiliation: | Jin Zhenlin 1 Gao Feng 2 1 |
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| Abstract: | In this paper, a novel micro-motion manipulator based on 6-PSS parallel three-dimensional platform mechanism is presented. The layout feature of the micro-motion manipulator is described. By using the submatrices of Jacobian matrix and force Jacobian matrix, the linear velocity isotropic index, angular velocity isotropic index, force isotropic index and torque isotropic index of the micro-motion manipulator are analyzed, respectively. The direct and inverse explicit displacement equations are derived,which provides theoretical base for its optimal design and application. Finally, it is shown that the novel micro-motion manipulator is characterized by simple algorithm and control, decoupling micro-displacements and mechanics and kinematics isotropy. Its properties of the force and motion transmission are optimum. |
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| Keywords: | Micro-motion manipulator 6-PSS parallel three-dimensional platform mechanism Parallel mechanism Isotropy |
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