【摘要】 设计的双指微动操作手的本体是基于并联机构的微机器人 ,其工作盘上装有针状手指。微机器人的传动支链采用柔性铰链微位移放大机构 ,并用细钢丝代替球铰链。讨论了柔性铰链的定位误差 ,建立了用细钢丝代替球铰链的误差模型 ,借助于柔性铰链相对于理想运动轨迹的偏离曲线 ,对由此引起的定位误差进行了分析计算更多还原

【Abstract】 The noumenon of dual-fingered jogging-manipulator wa s designed on the basis of micro-robot of parallel mechanism with its working plate fitted with acicular fingers. The transmission branch chain of micro-robot adopts flexible hinged minute-displacement enlarging mechanism and uses thin steel wires instead of global hinges. The localization error of flexible hinge was discussed, and the error model of thin steel wire substitution for global hinge was established. With the aid of deviation curve come forward from the comparison between track of the flexible hinge motion and that of the ideal motion, an analytical calculation was carried out upon the localization error aroused therefrom.更多还原