| 基于6-PSS正交并联机构的新型微操作机器人的位置分析 |
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| 引用本文： | 金振林,赵现朝,范文刚. 基于6-PSS正交并联机构的新型微操作机器人的位置分析[J]. 燕山大学学报, 2002, 26(1): 23-26 |
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| 作者姓名： | 金振林 赵现朝 范文刚 |
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| 作者单位： | 燕山大学机械工程学院,秦皇岛,066004 |
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| 基金项目： | 燕山大学科技发展基金资助项目（YDJJ2006） |
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| 摘 要： | 设计一种新颖的六自由度并联操作机器人，推导出共位置正反解方程并对其微位移传递性进行分析，为其合理结构布局形式的设计提供理论依据，这种微动机器人具有微位移解耦和微位移传递各向同性等优点。
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| 关 键 词： | 六自由度微操作机器人 正交并联机构 位置分析 |
| 修稿时间： | 2000-09-13 |
The Position Analysis for a Novel Micro-motion Manipulator based on 6-PSS Orthogonal Parallel Mechanism |
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| Jin Zhenlin,Zhao Xianchao. The Position Analysis for a Novel Micro-motion Manipulator based on 6-PSS Orthogonal Parallel Mechanism[J]. Journal of Yanshan University, 2002, 26(1): 23-26 |
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| Authors: | Jin Zhenlin Zhao Xianchao |
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| Abstract: | In this paper, the design of a novel 6-DOF micro-motion ma nipulator is presented. The direct and inverse displacement equations are derived explicitly and its properties of the micro-displacements t ransmission are studied, which provides theoretical base for its reaso nable structure design. Finally, it is shown that the novel micro-moti on manipulator is characterized by decoupling micro-displacements and isotropic properties of the micro-displacements transmission. |
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| Keywords: | DOF micro-motion manipulator orthogonal parallel mech anism position analysis. |
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