新型3-PRC柔性并联微操作平台的研究

李祥春; 李杨民; 丁冰晓; 徐洪业

doi:10.13433/j.cnki.1003-8728.2018.0509

新型3-PRC柔性并联微操作平台的研究

doi: 10.13433/j.cnki.1003-8728.2018.0509

1.
天津理工大学机械工程学院, 天津市先进机电系统与智能控制重点实验室, 天津 300384;
2.
香港理工大学工业与系统工程学系, 香港 999077;
3.
澳门大学科技学院, 澳门 999078

基金项目:

国家自然科学基金项目（51575544）与天津市自然科学基金项目（16JCZDJC38000）资助

详细信息

作者简介:
李祥春(1991-),硕士研究生,研究方向为微纳米操作及少自由度并联机器人机构与控制策略研究,598683185@qq.com

通讯作者:
李杨民,教授,博士生导师,yangmin_li@hotmail.com

计量
- 文章访问数: 251
- HTML全文浏览量: 26
- PDF下载量: 9
- 被引次数: 0
出版历程
- 收稿日期: 2017-06-15
- 刊出日期: 2018-05-05

An Investigation on a Novel 3-PRC Compliant Parallel Micromanipulator

1.
School of Mechanical Engineering, Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin 300384, China;
2.
Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hong Kong 999077, China;
3.
Faculty of Science and Technology, University of Macau, Macau 999078, China

摘要

摘要: 采用压电陶瓷作为驱动器设计了一种带有二级杠杆放大机构的3-PRC柔性并联微操作平台，该平台能实现空间三自由度的微小平移运动，放大机构的理论与有限元仿真分析放大倍数分别为8.772和8.245。首先采用矢量法建立了该机构的运动学模型，得到了其运动学正、逆解和雅克比矩阵。然后利用MATLAB软件分析并绘制了平台的工作空间，最后对机构的解耦性进行了理论分析并利用有限元软件进行了验证。结果表明该机构的耦合性误差小，可以实现空间三自由度微纳米级别的运动，具有较大的运动空间和良好的运动解耦性。
- 并联微操作平台 /
- 二级杠杆放大机构 /
- 运动学 /
- 工作空间 /
- 解耦性 /
- MATLAB
Abstract: This paper proposes a structural design about 3-PRC compliant parallel micromanipulator integrated with a novel secondary lever amplification mechanism driven by piezoelectric actuator, which can realize translate motion along X/Y/Z axis, and the theoretical amplification ratio and the finite element simulation analysis magnification ratio of the secondary lever amplification mechanism are 8.772 and 8.245, respectively. The kinematics mathematical models are established with vector method, and the forward solution, inverse solution and Jacobian matrix are also derived at first. Then, the workspace of the stage is obtained by MATLAB and decoupling characteristics are analyzed and validated by finite element method. The result showed that the coupling error of the mechanism is small, and this 3-PRC micromanipulator can achieve micro/nano level motion with three degrees of freedom (mechanics).
- 3-PRC /
- structural design /
- mathematical models /
- MATLAB /
- finite element method /
- mesh generation

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参考文献(17)

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