一种新构型3-RRRRR并联微动机构的研究

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基于3-RRRRR并联机构提出了一种由压电陶瓷驱动的新构型并联微动机构，推导出了单个柔性转动副的转角公式和驱动力公式，得到了输入驱动力和机构末端输出位移之间为线性关系，进而得到机构最大驱动力和工作空间；同时得到输入电压与输出位移之间也为线性关系，制作了3-RRRRR并联微动机构实验样机，并进行了实验测试，研究结果为该并联微动机构的应用奠定了基础。 This paper put forward a new structured parallel micromanipulator driven by piezoelectric ceramic, which was based on 3-RRRRR parallel mechanism. The corner formula of single flexibility revolute pair and the driving force formula were deduced. The relationship between driving force and output displacement of the mechanism end was also established, and then the maximum driving force and working space of the mechanism were obtained; A relationship between input voltage and output displacement was set up,and a 3-RRRRR parallel micromanipulator prototype was produced and tested. The foundation was layed for applications of this parallel micromanipulator.