Dynamics analysis of a 6-DOF serial-parallel micromanipulator

1997 International Symposium on Micromechanics and Human Science (Cat. No.97TH8311) Pub Date : 1997-10-05 DOI:10.1109/MHS.1997.768879

W. Shoujie, Z. Guanghua, B. Shusheng, Zhao Wei

引用次数: 1

Abstract

A new dexterous 6-DOF two-stage serial-parallel micromanipulator is described. The kinematics of this mechanism are analyzed with the method of vector analysis, and some advantages are also discussed. Inertia forces, moments of inertia and elastic potential energy are also analyzed. The dynamics of the SP mechanism has been modeled using a Lagrangian approach.

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六自由度串并联微机械臂动力学分析

介绍了一种新型灵巧六自由度两级串联并联微机械臂。用矢量分析的方法对该机构进行了运动学分析，并讨论了其优点。分析了惯性力、转动惯量和弹性势能。SP机制的动力学已经用拉格朗日方法建模。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

1997 International Symposium on Micromechanics and Human Science (Cat. No.97TH8311)

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