【作者】 于晖； 朱煜； 尹文生； 张鸣；

【Author】 Yu Hui Zhu Yu Yin Wensheng Zhang Ming (Department of Precision Instruments and Mechanology,Tsinghua University,Beijing 100084 P.R.China)

【机构】 清华大学精密仪器与机械学系制造工程研究所；

【摘要】 本文对一种3-2-1正交布置的6自由度并联微动机器人进行运动分析。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。指出该并联微动机构可以产生两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,kinematics analysis ofa 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.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 decoupled way.更多还原