Design of compliant micro-stage based on Peaucellier-Lipkin straight-line mechanism

J. Hricko
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引用次数: 1

Abstract

Design of small robotic positioning devices is required for some special tasks in field of robotics. In the case that workspace is smaller as 1mm then only compact compliant devices could be utilized. But in the case that straight-line output motion is required too; the design of such devices is more complicated, because the parasitic deformations must be minimized. As suitable solution is seemed combination of principles straight-line devices and compliant mechanisms in design process. This paper deals with design procedures for device based on compact compliant mechanical structure, where kinematical structure of Peaucellier-Lipkin straight-line mechanism was utilized. Design problems of transformation between straight-line mechanisms and flexure structures are discussed.
基于波塞利-利普金直线机构的柔性微工作台设计
机器人领域的一些特殊任务需要设计小型机器人定位装置。在工作空间小于1mm的情况下,只能使用紧凑的兼容设备。但在需要直线输出运动的情况下;这种装置的设计比较复杂,因为寄生变形必须最小化。在设计过程中,提出了将原理、直线装置和柔性机构相结合的设计方案。本文讨论了基于紧凑柔性机械结构的装置设计过程,其中利用了波塞利-利普金直线机构的运动结构。讨论了直线机构与柔性机构转换的设计问题。
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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