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微动操作机器人在精密制造、生物技术和微创医疗等领域中发挥着日益重要的作用。本文对3-PRR微动操作机器人进行了研究,考虑柔性铰链在非功能方向上的变形,利用齐次变换矩阵和材料力学方法,建立3-PRR微动操作机器人输入力和输出位移之间的关系,求出了其刚度矩阵,并在此基础上研究了该微动操作操作机器人的工作空间。最后通过有限元分析,证明本文提出的方法的有效性,为类似的微动操作机器人分析提供了简便精确的方法。
Jig manipulators are playing an increasingly important role in areas such as precision manufacturing, biotechnology and minimally invasive medical treatment. In this paper, the 3-PRR micromanipulator is researched in this paper. Considering the deformation of the flexible hinge in the non-functional direction, using homogeneous transformation matrix and material mechanics method, the relationship between input force and output displacement of 3-PRR micromanipulator is established The stiffness matrix is obtained, and on this basis, the working space of the micro-operation manipulator is studied. Finally, the finite element analysis is used to prove the effectiveness of the proposed method, which provides a simple and accurate method for similar micromanipulator analysis.