摘要
讨论了微电子装备中的重要设备之一贴片机采用平面三自由度并联机构作为定位和姿态调整机构而带来的惯性力平衡问题。平面三自由度并联机构惯性力平衡的条件是其质心在惯性坐标系中是固定的。为了获得这个惯性力平衡的条件 ,首先平面三自由度并联机构的质心矢量表示成平台的位置和方向的函数 ,然后 ,从质心矢量的表达式中推导惯性力平衡的条件。最后给出实例来应用惯性力平衡条件。
This paper discusses the balancing of planar three-degree-of-freedom parallel manipulator used as positioning mechanism of surface mounting machine. The counter-weight balancing method is used. This method leads to a mechanism with a stationary global center of mass. In order to obtain the balancing conditions, the position vector of the global center of mass is first expressed as functions of the position and orientation of the platform. Then, the conditions for static balancing are derived from the expressions obtained. An example is given to illustrate the application of the results to the design of balanced planar three-degree-of-freedom parallel mechanism.
出处
《机械科学与技术》
CSCD
北大核心
2003年第6期968-970,共3页
Mechanical Science and Technology for Aerospace Engineering
关键词
平面三自由度并联机构
惯性力平衡
配重法
Planar three-degree-of-freedom parallel manipulator
Balancing
Counter-weight method
