一种新型并联微动机器人运动学分析  

Research on Kinematics of a Novel Micromanipulator with Flexure Hinges

作　　者：韩书葵[1] 董旭[1] 

机构地区：[1]北华航天工业学院机械工程系,河北廊坊065000

出　　处：《北华航天工业学院学报》2013年第1期1-4,共4页Journal of North China Institute of Aerospace Engineering

基　　金：北华航天工业学院博士基金(KY2009-04-B);廊坊市科技局科技支撑计划项目(2010011024);河北省教育厅项目(Z2012204)

摘　　要：提出了一种新型的少自由度微动并联机器人,利用螺旋理论对于微动并联机器人的自由度进行分析,得到机构正常运动时所需要的驱动个数。利用矢量方法得到微动并联机器人的运动学反解。基于雅可比矩阵的可逆性,研究了微动机器人的奇异问题,从而确定该微动并联机器人的输入和输出之间的关系。A three degree of freedom parallel mieromanipulator is presented. The DOF of parallel manipulator is analyzed by the screw theory and the driven number is obtained. The kinematics solutions are analyzed using the vector theory,as a result, the Velocity of a movable platform is derived. Based on Jacobian matrix, the forward and inverse kinematic singular configuration of the parallel mi-cromanipulator is also studied. The results show that sensitivity parameters existed in Jacobian matrix affect the relation between the input and the output of the micromanipulator, the vector space method is simple and convenient in analyzing the singularity of parallel mechanisms.

关 键 词：微动机器人 螺旋理论 雅可比矩阵 奇异 

分 类 号：TH242[机械工程—机械制造及自动化]