六自由度串并联微机械臂动力学分析

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

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引用次数: 1

摘要

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。

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Dynamics analysis of a 6-DOF serial-parallel micromanipulator

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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来源期刊

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

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