Kinematic and Dynamic Modeling of 3-DOF Micro-motion Manipulators

摘要：

A method of deriving the forward kinematic and dynamic models through the particular 3 DOF (RRR) parallel micromanipulation device is presented. By established the linear kinematical modeling and dynamic model of a 3-DOF compliant micro-motion manipulator, an optimal design case is studied, the derivation process is in generality and can be implemented for other types of 3 DOF micromanipulator basing on this work.

关键词： kinematic modeling dynamic modeling 3-DOF micro-motion manipulation optimal design

作者: Kunquan Li Rui Wen

作者单位: Department of Mechanical and Engineering Henan Institute of Engineering Zhengzhou, China Department of Civil Engineering Henan Institute of Engineering Zhengzhou, China

会议类型: 国际会议

会议名称: 2010 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2010)(2010年检测技术与机电自动化国际会议)

会议地点: 长沙

会议语种:英文

页码: 1679-1682

在线出版日期: 2010-03-13（万方平台首次上网日期，不代表论文的发表时间）