中国机械工程
中國機械工程
중국궤계공정
CHINA MECHANICAl ENGINEERING
2011年
22期
2662-2666
,共5页
李仕华%句彦儒%王志松%孙龙庆%李富娟
李仕華%句彥儒%王誌鬆%孫龍慶%李富娟
리사화%구언유%왕지송%손룡경%리부연
3-RRRRR%微动机构%构型设计%静力学
3-RRRRR%微動機構%構型設計%靜力學
3-RRRRR%미동궤구%구형설계%정역학
基于3-RRRRR并联机构提出了一种由压电陶瓷驱动的新构型并联微动机构,推导出了单个柔性转动副的转角公式和驱动力公式,得到了输入驱动力和机构末端输出位移之间为线性关系,进而得到机构最大驱动力和工作空间;同时得到输入电压与输出位移之间也为线性关系,制作了3-RRRRR并联微动机构实验样机,并进行了实验测试,研究结果为该并联微动机构的应用奠定了基础。
基于3-RRRRR併聯機構提齣瞭一種由壓電陶瓷驅動的新構型併聯微動機構,推導齣瞭單箇柔性轉動副的轉角公式和驅動力公式,得到瞭輸入驅動力和機構末耑輸齣位移之間為線性關繫,進而得到機構最大驅動力和工作空間;同時得到輸入電壓與輸齣位移之間也為線性關繫,製作瞭3-RRRRR併聯微動機構實驗樣機,併進行瞭實驗測試,研究結果為該併聯微動機構的應用奠定瞭基礎。
기우3-RRRRR병련궤구제출료일충유압전도자구동적신구형병련미동궤구,추도출료단개유성전동부적전각공식화구동력공식,득도료수입구동력화궤구말단수출위이지간위선성관계,진이득도궤구최대구동력화공작공간;동시득도수입전압여수출위이지간야위선성관계,제작료3-RRRRR병련미동궤구실험양궤,병진행료실험측시,연구결과위해병련미동궤구적응용전정료기출。
This paper put forward a new structured parallel micromanipulator driven by piezoelectric ceramic, which was based on 3-RRRRR parallel mechanism. The corner formula of single flexibility revolute pair and the driving force formula were deduced. The relationship between driving force and output displacement of the mechanism end was also established, and then the maximum driving force and working space of the mechanism were obtained; A relationship between input voltage and output displacement was set up,and a 3-RRRRR parallel micromanipulator prototype was produced and tested. The foundation was layed for applications of this parallel micromanipulator.