一种3-PRRS柔性微动并联机构的运动学分析  

Kinematic Characteristic Analysis of 3-PRRS Flexible Micro-manipulator Parallel Mechanism

作　　者：邱冰静[1] 程刚[1] 顾伟[1] 

机构地区：[1]中国矿业大学机电学院,徐州江苏221116

出　　处：《机械传动》2012年第8期6-8,共3页Journal of Mechanical Transmission

基　　金：国家自然科学基金资助项目(50905180)

摘　　要：提出一种新型的3-PRRS柔性微动并联机构以适应多自由度微位移运动的需求。以3-PRRS型微动机构为研究对象,在分析其结构特点的基础上,运用螺旋理论对其运动自由度进行了分析,建立了机构位置方程,得到了机构输入量与输出量之间的映射关系。进而基于运动学分析结果,对机构的工作空间进行仿真分析。该机构具有对称性好,结构简单,易于控制等特点。In order to meet the demands of micro- motion with multi - degree of freedom, a novel 3 - PRRS flexible micro - manipulator parallel mechanism is developed. Taking the 3 - PRRSS mechanism as an analytical ob- jective, based on the structural characteristics, the motion properties are analyzed by the screw theory, and then the position equation of the manipulator is obtained as well as the mapping relations between the input and output of the manipulator. Finally, the simulation is conducted to analyze the workspace of the manipulator. The manipulator pro- posed here has the merits of good symmetry, simple structure, and easy control and so on.

关 键 词：柔性微动并联机构 螺旋理论 位置方程 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]