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Static Stiffness Analysis of a New Type 6-DOF Micro-manipulation Robot

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【作者】 叶鑫； 张之敬； 姚灿； 杨波； 李媛；

【Author】 YE Xin,ZHANG Zhi-jing,YAO Can,YANG Bo,LI Yuan School of Mechanical and Vehicle Engineering,Beijing Institute of Technology,Beijing 100081,China

【机构】 School of Mechanical and Vehicle Engineering Beijing Institute of Technology； School of Mechanical and Vehicle Engineering； Beijing Institute of Technology； Beijing 100081； China；

【摘要】 A 6-DOF micro-manipulation robot based on a 3-PPTTRS mechanism is proposed in this paper.Its static stiffness is an important index to evaluate load capacity and positioning accuracy.However,it is insufficient to consider the static stiffness only when the robot is in its initial pose.The stiffness in different positions and poses in its work space must be analyzed also.Thus a method to analyze the relationship between static stiffness and poses in the whole work space is presented.A static stiffness model is proposed first,and the relationship between structural parameters and static stiffness in different poses is discussed.The static stiffness analysis provides foundation for structural parameter design.

【Abstract】 A 6-DOF micro-manipulation robot based on a 3-PPTTRS mechanism is proposed in this paper.Its static stiffness is an important index to evaluate load capacity and positioning accuracy.However,it is insufficient to consider the static stiffness only when the robot is in its initial pose.The stiffness in different positions and poses in its work space must be analyzed also.Thus a method to analyze the relationship between static stiffness and poses in the whole work space is presented.A static stiffness model is proposed first,and the relationship between structural parameters and static stiffness in different poses is discussed.The static stiffness analysis provides foundation for structural parameter design.

【关键词】 mechanical design； 3-PPTTRS mechanism； micro-manipulation robot； static stiffness analysis； positions and poses in work space；
【Key words】 mechanical design； 3-PPTTRS mechanism； micro-manipulation robot； static stiffness analysis； positions and poses in work space；
【基金】 Sponsored by the Second Phase of“985 Project”
  • 【文献出处】 Journal of China Ordnance ,兵工学报(英文版) , 编辑部邮箱 ,2007年02期
  • 【分类号】TP242
  • 【下载频次】71
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