微动操作手的误差分析

目前微动操作手的机构选型主要有两种形式:串联机构与并联机构.它们各有优缺点.基于优势互补的指导思想,提出了一种新颖的机构形式,即串并联机构.为了评估微动操作手结构参数误差对末端执行器位姿的影响,利用矢量分析的方法建立了安装加工误差、驱动误差与末端位姿误差之间的关系式,得出了若干对微动机构的设计、加工、安装有普遍指导意义的结论.这种分析的方法同样也可应用到其它并联或串并联机构的误差分析研究中.

Accuracy Analysis of Micromanipulator

Two types mechanism of micromanipulator appeared in recent years. It is the serial mechanism and the parallel mechanism. They possess their respective strong and weak points. Based on the complementary law, one new type which is called Serial parallel Mechanism is presented in this paper. In order to evaluate the effects of the structural parameter errors upon the pose accuracy, a vector arithmetic method is applied to establish the relations between the pose accuracy and manufacturing tolerances, actuation errors, and connection errors of two stages. The sensitivity parameters affecting the micromanipulator pose are discussed. And some results which are very useful to the design and manufacture of the micromanipulator are derived. The analysis method can also be used on the accuracy analysis of other type parallel or serial parallel mechanisms.