【摘要】 微纳操作器是纳米操作系统中的关键部件之一。本文重点分析了并联微纳操作器的运动学正解和道解,推导出了运动学正解的雅可比矩阵。依据微纳操作器的可操作空间最大化,对微纳操作器的雅可比矩阵进行了分析。分析结果对并联微纳机构的参数选择与设计具有一定的指导意义。更多还原

【Abstract】 Micro-nano-manipulator is an essential part in micro-nano-manipulation system. The forward and backward infinitesimal kinematics of a parallel micro-nano-manipulator are presented in this paper. The micro-nano-manipulability is analyzed through the Jacobian matrix. Its results merit to design the micro-nano-manipulator.更多还原