【摘要】 阐述了微/纳米技术的发展对微动机器人进行研究的意义,分析了国内外微动机器人尤其是并联微动机器人的研究现状.对并联机器人的机构类型、运动学性能、静力学和静刚度性能、动力学、精度、运动学标定以及微动机器人的系统检测和测试进行了分析研究.提出了进一步研究的内容和任务,得出了新型结构并联微动机器人系统开发的研究方法和技术路线.更多还原

【Abstract】 This research indicates the significance of researching into jiggle robot with development ofmicron and nicron technology,and analyzes the status o f jiggle robots especially that of parallel connection jiggle robots.This analys is focuses on the framework type of parallel connection jiggle robots,its kinema tics performance,its performance of statics and still hard level,its dynamics,it s precision,the kinematics demarcating and the system detecting and testing on j iggle robots.The later research contents and tasks are proposed.Then the researc h method and technology route of a new frameWork parallel connection jiggle robo ts are provided.更多还原