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A 6-DOF micro-manipulation robot based on a 3-PPTTRS mechanism is proposed in this paper. Its static stiffness is an important index to evaluate load capacity and positioning accuracy. However, it is insufficient to consider the static stiffness only when the robot is in its initial pose. The stiffness in different positions and poses in its work space must be analyzed also. Thus a method to analyze the relationship between static stiffness and poses in the whole work space is presented. A static stiffness model is proposed first, and the relationship between structural parameters and static stiffness in different poses is discussed. The static stiffness analysis provides foundation for structural parameter design. 相似文献
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集成微力检测与反馈的双晶片微夹持器 总被引:1,自引:0,他引:1
微夹持器广泛应用于微装配、生物、医疗等领域。目前复杂武器装备生产中的微小型结构件及系统的夹持和装配还是依靠现场工作人员的经验决定,因此,有必要对微夹持器进行研究。以双晶片微夹持器为例,针对复杂三维微小型结构件及系统,提出了集成微力检测与反馈的组合式微夹持技术并研制了相应的微夹持器;阐述了微力检测与反馈的基本原理,搭建了面向双晶片压电陶瓷微夹持器的基于半导体应变片的微力检测与反馈电路。通过夹持实验实现了微力信号的测量与检测,为夹持、移动和装配过程中的微力测量提供了条件。 相似文献