柔性铰链及其在精密并联机器人中的应用  

Flexure hinge and its application in precision parallel manipulators

作　　者：杜志江[1] 董为[1] 孙立宁[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《哈尔滨工业大学学报》2006年第9期1469-1473,1478,共6页Journal of Harbin Institute of Technology

基　　金：国家高技术研究发展计划资助项目(2002AA422260)

摘　　要：在总结了柔性铰链及柔性铰链并联结构的概念、类型、特点的基础上,分析了该领域国内外的最新动态及其关键技术,提出了一种新颖的大行程柔性铰链结构,并以此为被动关节,构建了大行程柔性铰链并联机器人,并给出了测试结果.该系统可在立方厘米级的工作空间内达到亚微米级的运动精度.This paper presents the research trends and key technology of the flexure hinges and flexure hinge - based parallel mechanisms based on the introduction of their concepts, classification and features in details. Finally, a novel large workspace flexure hinge- based parallel manipulator is given, which adopts wide- range flexure hinges as passive joints. The test results are given and they indicate that system can attain accuracy of sub -micron scale in the cubic centimeter workspace.

关 键 词：柔性铰链 并联机器人 精密定位 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]