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基于柔性铰链缩小机构的三维微动平台的研究
Alternative TitleStudy on Micro-displacement Worktable Based on the Compliant Mechanism of Motion Reduction
王帅; 苏刚
Department机器人学研究室
Conference Name2012 31th Chinese Control Conference
Conference DateJuly 25-27, 2012
Conference PlaceHefei, China
Author of SourceTechnical Committee on Control Theory,Chinese Association of Automation
Source PublicationProceedings of the 31st Chinese Control Conference
PublisherChinese Association of Automation
Publication PlaceBeijing
2012
Pages5183-5186
Indexed ByEI ; CPCI(ISTP)
EI Accession number20130716024342
WOS IDWOS:000393905905055
Contribution Rank1
Keyword缩小机构 三维微动平台 超声波电机 柔性铰链
Abstract为了适应空间环境中低电压和轻重量的要求,设计了一种基于柔性铰链微位移缩小机构的微动平台。微动平台由超声波电机作为驱动元件,利用杠杆原理,经由柔顺机构输出缩小位移,从而实现机器人末端手臂的微位姿调整。对微位移缩小机构缩小倍数与运动学做了理论分析,并对柔性铰链位移和最大应力进行了有限元分析,实验证明该微动平台可以实现预期的运动。
Other AbstractIn order to meet the requirement of low voltage and light weight in the space envirement,a micro-displacement worktable based on the compliant mechanism of motion reduction is designed.It s driven by ultrasonic motor,and the flexure hinges was used to reduce the output displacement according to lever pricipal,which can adjust the micro-posture of the end of the robotic arm.The reduce factor and and the kinematics of the compliant mechanism of motion reduction were theoretical established and the analyses of...
Language中文
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Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10227
Collection机器人学研究室
Affiliation1.Graduate University of Chinese Academy of Sciences, Beijing 100049, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
Recommended Citation
GB/T 7714
王帅,苏刚. 基于柔性铰链缩小机构的三维微动平台的研究[C]//Technical Committee on Control Theory,Chinese Association of Automation. Beijing:Chinese Association of Automation,2012:5183-5186.
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