一种并联微动工作台柔性机构的理论设计方法  

Theory Design Method of a Flexure mechanism for Parallel Micromotion Working Table

作　　者：王伟[1] 胡鹏浩[1] 郑群[1] 宋昆鹏[1] 

机构地区：[1]合肥工业大学仪器科学与光电工程学校,合肥230009

出　　处：《工业计量》2006年第6期4-7,共4页Industrial Metrology

基　　金：安徽省高等学校"现代测试与制造质量工程"重点实验室项目资助

摘　　要：文章分析一种平面3RRR并联微动台的理论设计方法,利用微动台的运动范围、分辨力,柔性铰链的转动刚度、许用应力等设计指标,讨论了柔性机构各尺寸与这些设计指标之间的关系,在充分发挥压电陶瓷和并联机器人原理的优势上,初步完成了整个柔性机构的构建,为之后的进一步优化创造了条件。Theory design method of a planar 3RRR parallel micromotion working table is introduced. Based on moving range and resolution of micromotion table, and rotary stiffness and allowable stress of flexure hinge and so on design indexes, the relation between those design indexes and various sizes of flexure mechanism is di^ussed. Based on advantage of PZT and principle of parallel manipulator, construction of whole flexure mechanism was achieved initially. It creats conditions for further research of the mechanism.

关 键 词：并联机器人 柔性铰链 压电陶瓷 MATLAB计算 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]