【摘要】 对一种 3 2 1正交布置的 6自由度并联微动机器人进行了分析。给出这种特殊构型并联微动机构的位置正解和逆解的显示方程 ,同时给出了该并联微动机构的力雅克比矩阵和速度雅克比矩阵 ,对速度和力传递的各向同性指标进行了分析。指出该并联微动机构可以产生 2种相互解耦的复合运动 ,一种是 3 DOF的Z tilts运动 ,另外一种是其相应的 3 DOF平面一般运动。更多还原

【Abstract】 In this paper, analysis of a parallel micro-motion manipulator with 3-2-1 orthogonal chains is presented. The forward position equation and inverse position equation of this special configuration mechanism are given explicitly in analytical form. The velocity Jacobian matrix and the force Jacobian matrix of the parallel micro-motion manipulator are analyzed and the isotropic indices for motion transform and force transform of the mechanism are studied. It is pointed out that two kinds of composite motion, one is 3-DOF Z-tilts (Z, Pitch, and Roll) motion, and the other is its corresponding 3-DOF plane general motion (X, Y, and Yaw), can be generated by the parallel micro-motion manipulator in a decoupled way.更多还原