应用闭环矢量原理建立三自由度平面并联微动机器人运动学模型  

A Kinematic Model for a 3-DOF Parallel Micro-motion Robot

作　　者：杨春辉[1] 刘平安[1] 

机构地区：[1]华东交通大学,南昌330013

出　　处：《机械科学与技术》2007年第9期1233-1236,共4页Mechanical Science and Technology for Aerospace Engineering

摘　　要：近年来面向生物工程、医学工程及微加工等领域的微操作机器人技术受到国内外学术界和工程界的广泛关注,发展速度极快,已被应用于实现细胞的注射和分割,微机电产品的加工和装配以及微外科手术等。微动机器人具有无摩擦无间隙、响应快、结构紧凑、刚性好、误差积累小等特点,以柔性铰链代替传统铰链后并联机构就正好具备以上特点适合用作微动机器人。本文对三自由度平面并联机器人(3-RRR型)采用闭环矢量原理建立了线性且有效的运动学模型,并利用MATLAB7.1软件编程计算出输出平台的位移、方位角与输入位移的关系。Micro-motion robots have such characteristics as rub-free, quick response, compact structure, and good rigidity. When the traditional hinges in a parallel mechanism is replaced with flexible hinges, it will possess the above characteristics and is suitable to serve as a micro-motion robot. In this paper, we first present a method for deriving a linear and effective kinematic model for a 3-DOF micro-motion robot based on the loop closure theory. Using Matlab 7.1, we calculate the positions and the orientations of the end-effector when the actuated joint varies.

关 键 词：并联机器人 微动机器人 运动学模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]