平面三自由度并联机构的惯性力平衡  

On the Balancing of Planar 3 DOF Parallel Manipulator

作　　者：梅志千[1] 杨汝清[1] 周兵[1] 张广立[1] 

机构地区：[1]上海交通大学机器人研究所,上海200030

出　　处：《机械科学与技术》2003年第6期968-970,共3页Mechanical Science and Technology for Aerospace Engineering

摘　　要：讨论了微电子装备中的重要设备之一贴片机采用平面三自由度并联机构作为定位和姿态调整机构而带来的惯性力平衡问题。平面三自由度并联机构惯性力平衡的条件是其质心在惯性坐标系中是固定的。为了获得这个惯性力平衡的条件 ,首先平面三自由度并联机构的质心矢量表示成平台的位置和方向的函数 ,然后 ,从质心矢量的表达式中推导惯性力平衡的条件。最后给出实例来应用惯性力平衡条件。This paper discusses the balancing of planar three-degree-of-freedom parallel manipulator used as positioning mechanism of surface mounting machine. The counter-weight balancing method is used. This method leads to a mechanism with a stationary global center of mass. In order to obtain the balancing conditions, the position vector of the global center of mass is first expressed as functions of the position and orientation of the platform. Then, the conditions for static balancing are derived from the expressions obtained. An example is given to illustrate the application of the results to the design of balanced planar three-degree-of-freedom parallel mechanism.

关 键 词：平面三自由度并联机构 惯性力平衡 配重法 

分 类 号：TH112[机械工程—机械设计及理论]