微操作机器人机构的运动特性分析  

MOTION CHARACTERISTIC ANALYSIS OF MICROMANIPULATION MECHANISM

作　　者：毕树生[1] 宗光华[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100083

出　　处：《机械工程学报》2002年第z1期227-230,共4页Journal of Mechanical Engineering

基　　金：国家自然科学基金(59975002)

摘　　要：结合几何尺度缩放法则,并根据显微操作的任务、环境及操作对象的尺度,剖析了微操作机器人机构的选型特点,研究了微操作机器人的动作方式,探讨了微操作机器人机构自由度数目及自由度形式选择的理论依据,结果表明少自由度并联机构适于显微操作。What kind of parallel mechanism suitable for mi-cromanipulation is the crux of an argument in the domain of micromanipulators. The study situation of parallel micro-manipulators is analyzed. The motion characteristics of mi-cromanipulator are studied according to scaling laws of geometry. How to select the degree of freedom of micro-manipulation is discussed combined with micromanipulation tasks, environment and scales of the manipulated objectives. The result shows that 3 DOF translational parallel mechanism is suitable for micromanipulation.

关 键 词：显微操作 并联机构 自由度 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]