A novel parallel manipulator design for packaging and assembly

Z. Dachang, Feng Yanping, Fang Yuefam
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引用次数: 4

Abstract

The mechanisms with type of right-angle coordinate system and planar joints are two kinds of manipulators which apply extensive in microelectronics, and gradually apply to packaging and assembly line work. However, the structure with open serial chain of this two kinds of mechanisms made the stiffness and the ability of load too lower to adapt the need of production. In order to deal with this situation, a novel parallel manipulator with three degree-of-freedom (dof), two translate dof and one rotate dof, is applied to microelectronics packaging. A procedure to analyze the kinematics property of 3-RPS 2TIR parallel manipulator is presented via screw theory. The dof of this mechanism is proved equal to three, including two translate and one rotational dof respectively. Singularity analysis is provided by screw theory. Applied with the Jacobian matrix, the kinematics analysis is also provided and simulation with kinematics is given.
一种新型的包装装配并联机械手设计
直角坐标系型平面关节机构是在微电子领域应用广泛的两种机械臂,并逐渐应用到封装和流水线作业中。然而,这两种机构的开串链结构使其刚度和承载能力太低,无法适应生产的需要。为了解决这一问题,提出了一种新型的三自由度并联机械手,即两个平移自由度和一个旋转自由度,用于微电子封装。利用螺旋理论分析了3-RPS - 2TIR并联机器人的运动学特性。证明了该机构的自由度等于3,其中包括两个平移自由度和一个转动自由度。用螺旋理论进行了奇异性分析。应用雅可比矩阵进行了运动学分析,并进行了运动学仿真。
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