| More and more people are paying attention to micromanipulator. As micromanipulator has wildly application field, it is very important to design and analyze a new type of micromanipulator which can satisfy given requests. Based on the flexible hinges and the relation between flexible mechanism and parallel mechanism, considering the special request of micromanipulator's planar movement, 3-RPR flexible parallel mechanism is designed and analyzed. The paper includes the following contents.1.3-RPR parallel mechanism is chosen as the prototype. A new type 3-RPR flexible parallel mechanism is designed through adopting the flexible hinges replaced method, and its 3D model is established.2. The micro-displacement of 3-RPR parallel mechanism, especially the kinematics character and the analysis method of micro-displacement, is analyzed using the kinematics of micromanipulator, and the constant Jacobian matrix that approximately relates the input to the output is received, Forward Displacement of 3-RPR is gained adopting the method PRBM and Loop-closure theory.3. Based on static stiffness of flexible joins, the model of static stiffness of flexible mechanism is studied. The relation formula between the static stiffness matrix and the compliance matrix is proposed. FEA model of 3-RPR is established to validate that the kinematics character is fit for the request of the subject. Micro-displacement of every nodes are got, then the compliance matrix is gained with force constraints, further more, get the static stiffness matrix.4.Analyze the mostly reasons of error of the flexible mechanism and the accurate analysis... |
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