Research on type synthesis of 3 DOF translational parallel micromanipulator

作     者：BI Shu-sheng YU Jing-jun SU Ling-song ZONG Guang-hua (Beijing University of Aeronautics and Astronautics Institute of Mechanical Engineering and Automation) 

会议名称：《第五届海内外青年设计与制造科学会议》

会议日期：2002年

学科分类：08[工学] 0803[工学-光学工程] 

关 键 词：Micromanipulator Parallel Mechanism Type Synthesis Screw Theory 

摘      要：正Based on the concept of Order and the Kutzbach Grubler formula, all the possible types of parallel mechanisms with 3 DOF are numbered. The principles for the mechanism synthesis are explained by applying the screw theory. According to the reciprocal product of force wrench and motion wrist, the type synthesis problem of 3DOF translational parallel mechanism is studied detailedly. In addition, the advantages and disadvantages of some representative 3DOF translational parallel mechanisms as micromanipulators are analyzed qualitatively.