微操作手自由度的选择  

Research on DOF Selection of Micromanipulator

作　　者：毕树生[1] 于靖军[1] 宗光华[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：《中国机械工程》2003年第4期327-329,共3页China Mechanical Engineering

基　　金：国家自然科学基金资助项目 (599750 0 2)

摘　　要：分析了显微操作的动作方式 ,讨论了微操作手的运动特点 ,按照位置和姿态的耦合及解耦两种情况 ,研究了微操作手自由度确定的理论依据。The flexure joint parallel robots actuated by PZTs are adopted widely in the domain of micromanipulations. How to choose the number and form of the Degree of Freedom (DOF) is the basis of fixing micromanipulation mechanism. The motion mode and characteristics of micromanipulator are analyzed combined with micromanipulation tasks, environment and scales of the manipulated objectives. The theoretic basis choosing DOF of micromanipulator is also studied in terms of coupling and decoupling of translation and rotation. The results show that 3 DOF translational parallel mechanism is suitable for micromanipulation.

关 键 词：微操作手 柔性铰链 并联机构 自由度 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]