• 文献检索
  • 文档翻译
  • 深度研究
  • 学术资讯
  • Suppr Zotero 插件Zotero 插件
  • 邀请有礼
  • 套餐&价格
  • 历史记录
应用&插件
Suppr Zotero 插件Zotero 插件浏览器插件Mac 客户端Windows 客户端微信小程序
定价
高级版会员购买积分包购买API积分包
服务
文献检索文档翻译深度研究API 文档MCP 服务
关于我们
关于 Suppr公司介绍联系我们用户协议隐私条款
关注我们

Suppr 超能文献

核心技术专利：CN118964589B侵权必究
粤ICP备2023148730 号-1Suppr @ 2026

文献检索

告别复杂PubMed语法，用中文像聊天一样搜索，搜遍4000万医学文献。AI智能推荐，让科研检索更轻松。

立即免费搜索

文件翻译

保留排版，准确专业，支持PDF/Word/PPT等文件格式，支持 12+语言互译。

免费翻译文档

深度研究

AI帮你快速写综述，25分钟生成高质量综述，智能提取关键信息，辅助科研写作。

立即免费体验

一种新型受三棱柱启发的紧凑型结构三轴并联柔顺机械手的设计与建模

Design and Modeling of a Novel Tripteron-Inspired Triaxial Parallel Compliant Manipulator with Compact Structure.

作者信息

Xie Yanlin, Li Yangmin, Cheung Chifai

机构信息

State Key Laboratory of Ultra-precision Machining Technology, Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong.

出版信息

Micromachines (Basel). 2022 Apr 27;13(5):678. doi: 10.3390/mi13050678.

DOI:10.3390/mi13050678
PMID:35630145
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9148049/
Abstract

Compliant mechanisms are popular to the applications of micro/nanoscale manipulations. This paper proposes a novel triaxial parallel-kinematic compliant manipulator inspired by the Tripteron mechanism. Compared to most conventional triaxial compliant mechanisms, the proposed manipulator has the merits of structure compactness and being free of assembly error due to its unique configuration and the utilize of 3D printing technology. The compliance matrix modeling method is employed to determine the input stiffness of the compliant manipulator, and it is verified by finite-element analysis (FEA). Results show that the deviations between simulation works and the derived analytical models are in an acceptable range. The simulation results also reveal that the compliant manipulator can achieve a 16 μm × 16 μm × 16 μm cubic workspace. In this motion range, the observed maximum stress is much lower than the yield strength of the material. Moreover, the dynamic characteristics of the manipulator are investigated via the simulations as well.

摘要

柔顺机构在微纳尺度操作应用中很受欢迎。本文提出了一种受Tripteron机构启发的新型三轴并联柔顺机械手。与大多数传统的三轴柔顺机构相比，该机械手具有结构紧凑以及由于其独特的结构和3D打印技术的应用而无装配误差的优点。采用柔顺矩阵建模方法确定柔顺机械手的输入刚度，并通过有限元分析（FEA）进行验证。结果表明，仿真结果与推导的解析模型之间的偏差在可接受范围内。仿真结果还表明，该柔顺机械手可实现16μm×16μm×16μm的立方工作空间。在此运动范围内，观察到的最大应力远低于材料的屈服强度。此外，还通过仿真研究了机械手的动态特性。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/ad3bff812835/micromachines-13-00678-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/c45d979543ca/micromachines-13-00678-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/14d77c64f52e/micromachines-13-00678-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/77d6e6289263/micromachines-13-00678-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/ae7df91d0643/micromachines-13-00678-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/06dd0265e702/micromachines-13-00678-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/014d79a0bcc5/micromachines-13-00678-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/d95e842387e2/micromachines-13-00678-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/ff7b260e2ff9/micromachines-13-00678-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/efe6843b5fa5/micromachines-13-00678-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/53cb4834af70/micromachines-13-00678-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/be90a7356093/micromachines-13-00678-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/ad3bff812835/micromachines-13-00678-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/c45d979543ca/micromachines-13-00678-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/14d77c64f52e/micromachines-13-00678-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/77d6e6289263/micromachines-13-00678-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/ae7df91d0643/micromachines-13-00678-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/06dd0265e702/micromachines-13-00678-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/014d79a0bcc5/micromachines-13-00678-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/d95e842387e2/micromachines-13-00678-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/ff7b260e2ff9/micromachines-13-00678-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/efe6843b5fa5/micromachines-13-00678-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/53cb4834af70/micromachines-13-00678-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/be90a7356093/micromachines-13-00678-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7f1e/9148049/ad3bff812835/micromachines-13-00678-g012.jpg

相似文献

1
Design and Modeling of a Novel Tripteron-Inspired Triaxial Parallel Compliant Manipulator with Compact Structure.一种新型受三棱柱启发的紧凑型结构三轴并联柔顺机械手的设计与建模
Micromachines (Basel). 2022 Apr 27;13(5):678. doi: 10.3390/mi13050678.
2
Design of a novel tendon-driven manipulator structure based on monolithic compliant rolling-contact joint for minimally invasive surgery.基于整体式柔顺滚动接触关节的微创外科新型腱驱动机械手结构设计。
Int J Comput Assist Radiol Surg. 2021 Sep;16(9):1615-1625. doi: 10.1007/s11548-021-02442-w. Epub 2021 Jul 7.
3
Topology Optimization of Spatially Compliant Mechanisms with an Isomorphic Matrix of a 3-UPC Type Parallel Prototype Manipulator.具有3-UPC型并联原型机械手同构矩阵的空间柔顺机构拓扑优化
Micromachines (Basel). 2018 Apr 14;9(4):184. doi: 10.3390/mi9040184.
4
Dimensional optimisation and an inverse kinematic solution method of a safety-enhanced remote centre of motion manipulator.一种安全增强型运动远程中心操纵器的尺寸优化及逆运动学求解方法
Int J Med Robot. 2023 Sep 19:e2579. doi: 10.1002/rcs.2579.
5
Kinematics and workspace analysis of a robotic device for performing rehabilitation therapy of upper limb in stroke-affected patients.用于对脑卒中患者进行上肢康复治疗的机器人设备的运动学和工作空间分析。
Acta Bioeng Biomech. 2021;23(3):175-189.
6
Design, Modeling, and Testing of a Novel XY Piezo-Actuated Compliant Micro-Positioning Stage.新型 XY 压电驱动柔性微定位平台的设计、建模与测试
Micromachines (Basel). 2019 Aug 31;10(9):581. doi: 10.3390/mi10090581.
7
A New XYZ Compliant Parallel Mechanism for Micro-/Nano-Manipulation: Design and Analysis.一种新的符合XYZ标准的用于微纳操作的并联机构：设计与分析。
Micromachines (Basel). 2016 Feb 1;7(2):23. doi: 10.3390/mi7020023.
8
Study on modeling and dynamic performance of a planar flexible parallel manipulator based on finite element method.基于有限元法的平面柔性并联机器人建模与动态性能研究
Math Biosci Eng. 2023 Jan;20(1):807-836. doi: 10.3934/mbe.2023037. Epub 2022 Oct 14.
9
Stiffness modeling of compliant parallel mechanisms and applications in the performance analysis of a decoupled parallel compliant stage.柔顺并联机构的刚度建模及其在解耦并联柔顺平台性能分析中的应用
Rev Sci Instrum. 2015 Sep;86(9):095109. doi: 10.1063/1.4930884.
10
Development of a new 3-DOF parallel manipulator for minimally invasive surgery.一种用于微创手术的新型三自由度并联机器人的研制。
Int J Med Robot. 2018 Jun;14(3):e1901. doi: 10.1002/rcs.1901. Epub 2018 Mar 26.

引用本文的文献

1
Editorial for the Special Issue on Flexible Micromanipulators and Micromanipulation.关于柔性微操纵器与微操纵的特刊社论
Micromachines (Basel). 2023 Mar 4;14(3):597. doi: 10.3390/mi14030597.

本文引用的文献

1
3D-Printed Micro-Tweezers with a Compliant Mechanism Designed Using Topology Optimization.采用拓扑优化设计的具有柔顺机构的3D打印微型镊子。
Micromachines (Basel). 2021 May 19;12(5):579. doi: 10.3390/mi12050579.
2
Design of a Monolithic Double-Slider Based Compliant Gripper with Large Displacement and Anti-Buckling Ability.一种具有大位移和抗屈曲能力的基于整体双滑块的柔顺夹具设计
Micromachines (Basel). 2019 Sep 30;10(10):665. doi: 10.3390/mi10100665.