3-DOF并联微纳操作器运动学分析  

Kinematics analysis on a 3-DOF micro-nano manipulator

作　　者：嵇国金[1] 马奎[2] 王磊[2] 

机构地区：[1]同济大学电子与信息工程学院,上海200092 [2]同济大学中德学院,上海200092

出　　处：《机械设计》2005年第2期32-34,共3页Journal of Machine Design

摘　　要：作为一执行机构,微纳操作器是纳米操作系统的关键部件之一。重点分析了3-DOF并联微纳操作器的运动学正解和逆解,推导出了运动学正解的雅可比矩阵。依据微纳操作器的可操作空间最大化,对微纳操作器的雅可比矩阵进行了分析。分析结果对并联微纳机构的参数选择与设计具有一定的指导意义。The micro-nano manipulator, acted as an executive mechanism, is one of the key components of micro-nano operational system. The forward and inverse kinematics solutions of a 3-DOF parallel micro-nano manipulator were emphatically analyzed, and the Jacobi matrix of kinematics forward solution was derived. In accordance with the maximization of operationable space of micro-nano manipulator, an analysis was carried out upon the Jacobi matrix of micro-nano manipulator. The result of analysis possesses certain guiding significance on parametric selection and design of parallel micro-nano mechanism.

关 键 词：纳米操作系统 并联微纳操作器 雅可比矩阵 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]