Tổng Hợp Cơ Cấu Động Học Song Song Dẫn Động Tùy Chọn
نویسندگان
چکیده
Flexure parallel mechanism (FPM) possessing selective actuation (SA) feature can be used as a micropositioner. The design of SA FPMs consists of type synthesis of parallel mechanisms possessing the required number of degree of freedom (DOF), geometric arrangement of the structure to obtain the SA and conversion of the kinematic mechanism into the flexure mechanism. This paper focuses on the SA synthesis and the conversion into flexure mechanism. The diagonal form Jacobian matrix of the mechanism is the guideline for synthesizing a SA mechanism. The synthesis method is illustrated by the design of a SA 6-DOF FPM. Index Terms – Selective-actuation, parallel mechanism, flexure.
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