Rigid 6 x 6 parallel platform for precision 3-D micromanipulation: Theory and design application

被引：20

作者：

Portman, VT ^{[1
]}

Sandler, BZ ^{[1
]}

Zahavi, E ^{[1
]}

机构：

[1] Ben Gurion Univ Negev, Dept Mech Engn, Pearlstone Ctr Aeronaut Engn Studies, IL-84105 Beer Sheva, Israel

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2000年 / 16卷 / 06期

关键词：

displacement measurements; error compensation; microactuator; position control;

D O I：

10.1109/70.897775

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A new type of 6 x 6 parallel platform mechanism-designated a "rigid platform"-characterized by very high stiffness and a high degree of accuracy is described. Two new structural concepts are proposed for obtaining high stiffness and accuracy, 1) The joints between the changeable links and the platform and between the changeable links and the base are designed as welded joints. 2) Microactuators for controlled elongation of the legs use controlled longitudinal elastic deformations of the legs. Four possible approaches for analysis of the kinematics of this mechanism are described: infinitesimal kinematics of a classical platform and of a modified classical platform, the finite-elements method, and an identification procedure. Experimental investigations of a pilot setup of the proposed platform confirmed the predictions concerning the accuracy and stiffness of the proposed device.

引用

页码：629 / 643

页数：15

共 27 条

[1] Sensing the torque in a robot's joints [J].