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Abstract: Based on the pseudo-rigid-body model and unitary dimension
of the kinematic parameters, the dimensional model of the 3-RUU
micro-motion parallel mechanism is established, on which all the
possible dimensional parameter combinations of the 3-RUU micro-motion
parallel mechanism are expressed in a closed region and each point in
the region corresponds a cognation of mechanisms having the same or
similar kinematic characters. The motion property of the
micro-manipulation is analyzed, three kinematic evaluation indexes of
the micro-motion mechanism including the workspace volume value,
workspace shape value and condition number of the constant Jacobian
matrix are presented, and the performance index atlas describing the
relationships between the dimensional parameter combinations and
mechanism performances are protracted based on the proposed dimensional
model and evaluation indexes.
Key words: 3-RUU micro-motion parallel mechanism Dimensional model
Performance index Performance atlas
CLC No: TH112.1
TP24.2
国家自然科学基金(69885001,
60276031)和北京市先进制造技术重点实验室开放基金(KP0100200201)资助项目. Received 20040909,
received in revised form 20041223
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