Jianjun Zhang, Xiaohui Wang, W. Liu, K. Qi, Weimin Li
{"title":"垂直结构6-PSS并联微机械臂的静力学和刚度研究","authors":"Jianjun Zhang, Xiaohui Wang, W. Liu, K. Qi, Weimin Li","doi":"10.1109/NANO.2013.6720907","DOIUrl":null,"url":null,"abstract":"Parallel micro-manipulators adopt flexible joints and the flexible deformation makes the up-platform move. Considering the counter-force/moment of the flexible joints, we concern the statics of a 6-PSS parallel micro-manipulator with perpendicular structures(PMMWPS), the construction of a relationship model between force output of PZT actuators and outer load on the up-platform, and the definition of driving stiffness matrix. As the particularity of the micro-manipulator, its stiffness is defined and stiffness matrix is derived. Finally, giving numerical value of the micro-manipulator parameters, we figure out the result that was verified by aid of Ansys software. The result of this paper is very useful for the design and dynamics analysis of the parallel micro-manipulator.","PeriodicalId":189707,"journal":{"name":"2013 13th IEEE International Conference on Nanotechnology (IEEE-NANO 2013)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"On the study of statics and stiffness of a 6-PSS parallel micro-manipulator with perpendicular structures\",\"authors\":\"Jianjun Zhang, Xiaohui Wang, W. Liu, K. Qi, Weimin Li\",\"doi\":\"10.1109/NANO.2013.6720907\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Parallel micro-manipulators adopt flexible joints and the flexible deformation makes the up-platform move. Considering the counter-force/moment of the flexible joints, we concern the statics of a 6-PSS parallel micro-manipulator with perpendicular structures(PMMWPS), the construction of a relationship model between force output of PZT actuators and outer load on the up-platform, and the definition of driving stiffness matrix. As the particularity of the micro-manipulator, its stiffness is defined and stiffness matrix is derived. Finally, giving numerical value of the micro-manipulator parameters, we figure out the result that was verified by aid of Ansys software. The result of this paper is very useful for the design and dynamics analysis of the parallel micro-manipulator.\",\"PeriodicalId\":189707,\"journal\":{\"name\":\"2013 13th IEEE International Conference on Nanotechnology (IEEE-NANO 2013)\",\"volume\":\"67 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 13th IEEE International Conference on Nanotechnology (IEEE-NANO 2013)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/NANO.2013.6720907\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 13th IEEE International Conference on Nanotechnology (IEEE-NANO 2013)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/NANO.2013.6720907","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
On the study of statics and stiffness of a 6-PSS parallel micro-manipulator with perpendicular structures
Parallel micro-manipulators adopt flexible joints and the flexible deformation makes the up-platform move. Considering the counter-force/moment of the flexible joints, we concern the statics of a 6-PSS parallel micro-manipulator with perpendicular structures(PMMWPS), the construction of a relationship model between force output of PZT actuators and outer load on the up-platform, and the definition of driving stiffness matrix. As the particularity of the micro-manipulator, its stiffness is defined and stiffness matrix is derived. Finally, giving numerical value of the micro-manipulator parameters, we figure out the result that was verified by aid of Ansys software. The result of this paper is very useful for the design and dynamics analysis of the parallel micro-manipulator.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
