面向生物工程的微操作机器人机构型综合研究  

Research on Type Synthesis of Micromanipulation Mechanisms for Bioengineering

作　　者：于靖军[1] 毕树生[1] 宗光华[1] 赵玮[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院

出　　处：《北京航空航天大学学报》2001年第3期356-360,共5页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金资助项目!(5 9975 0 0 2 );国家 863计划资助项目!(970 4 2 7)

摘　　要：首先针对微操作的特点 ,提出了面向生物工程的微操作机器人机构选用与设计准则 .列举了各种可能的 3自由度并联机构型式 ,运用螺旋理论对 3自由度平动并联机构型综合的机理作了分析与解释 .在此基础上 ,对 3自由度平动并联机构进行了型综合 .定性地分析了各类机构作为微动机器人机构所具有的优缺点 ,从而选择出适合用于生物工程领域微操作的机型 .Firstly aiming at the characteristic of micromanipulation, the guidelines for selecting and designing micromanipulation mechanisms for bioengineering are proposed. In order to solve the problem of type synthesis of 3 DOF translational parallel mechanism, all the possible types of parallel mechanisms with 3 DOF are numbered, and the principles for the mechanism synthesis are also explained by applying the screw theory. In addition, based on the consideration for the advantages and disadvantages of the mechanisms as micromanipulators, some types of the mechanisms suitable for the micromanipulation for bioengineering are chosen. At last, both the CAD model and the available prototype of this mechanism are presented.

关 键 词：空间机械 生物工程 螺旋理论 机器人 机构型综合研究 微操作 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]