| 1 | KINEMATICS FEATURE ANALYSIS OF A 3-DOF COMPLIANT MECHANISM FOR MICRO MANIPULATION显示文摘Kinematics and its related issues of a 3-DOF in-parallel compliant mechanism are focused on.The micro manipulation application that requires high accuracy is developed.Design of the developed micromanipulator is based on the modified Delta mechanism.The main advantages of this manipulator are the use of only revolute flexure hinges and the capability to produce pure translation theoretically.The aim is to develop an efficient kinematic model used for positioning control.For this purpose, the Jacobian matrix relating the end effector position with the actuator displacements is obtained by both theoretical derivation and experiment.Aiming at the abnormality in the motion capabilities of the micromanipulator found in calibration experiment, the mobility of the compliant mechanism on a theoretical level is analyzed by using the matrix method and screw theory.Both the experimental and theoretical results have verified that the compliant mechanism does have rotational motion. | YuJingjun HuYida BiShusheng ZongGuanghua ZhaoWei | 2004 | Chinese Journal of Mechanical Engineering2004，17，1： | 22 |
| 2 | Type synthesis of parallel mechanisms with three translational degrees of freedom显示文摘A simple but effective type synthesis method for spatial parallel mechanisms with three translational degrees of freedom(DOF) based on the screw theory is presented. Firstly all possible connecting-chain structures of three-DOF parallel mechanisms are enumerated. According to the reciprocal relationship between screw constraint forces and the motion screw, a novel synthesis method is presented. By using this method, type synthesis for translational three-DOF parallel mechanisms has been made in a systematic and detailed way. As a result, dozens of novel parallel mechanisms generating spatial translation have been obtained. To verify the significance of type synthesis for this kind of mechanism, this paper also gives an example of application, which is used for a micromanipulator for manipulating cells. | YUJingjun ZHAOTiesheng BIShusheng ZONGGuanghua HUANGZhen | 2003 | Progress in Natural Science:Materials International2003，13，7： | 3 |
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