一种构型简单的新型三平动微动并联机器人

doi:10.3969/j.issn.1001-2400.2017.04.010

Abstract

Abstract:

Aiming at the active vibration control for a CPU crystal oscillator in electronic equipments, a novel 3-DOF (degree of freedom) micro translational parallel manipulator with linear driving and six passive joints is presented. It possesses the dimension of 75mm×67mm×25mm, and performs 3-DOF translational motions at 50Hz within a space of (±2mm)×(±2mm)×(±2mm). Finally a computational simulation validates the novel design. Its configuration is chiefly characterized by a constant Jacobian matrix between input and output, which facilitates the implementation of real-time control. It can be used not only for active vibration control, but also for industrial robots, precision machineries, optical testing platforms and the design of parallel machine tools.

Key words: parallel manipulators, configuration, kinematics, Jacobian matrices

ZHAO Ze;QIU Yuanying;DUAN Xuechao. Novel 3-DOF micro translational parallel manipulator[J].Journal of Xidian University, 2017, 44(4): 51-55+131.

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Novel 3-DOF micro translational parallel manipulator

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