Development of a 3-DOF Mobile Positioning Mechanism with 6 Contact Points
Development of a 3-DOF Mobile Positioning Mechanism with 6 Contact Points
复制标题
六接触点三自由度移动定位机构的研制
DOI：
10.4028/www.scientific.net/kem.516.136
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
O. Fuchiwaki
中科院分区：
文献类型：
--
作者：
M. Yatsurugi;O. Fuchiwaki
在本文中，我们描述了具有六个接触点的三自由度精密尺蠖机构的设计、开发和实验结果。在过去的十年中，我们开发了一种全方位、完整的尺蠖机构，以提供灵活、紧凑和精确的显微加工。在之前的机构中，四个压电致动器连接一对相互交叉布置的U形电磁体，以便该机构可以在任何方向上精确地移动。然而，U 形电磁铁的倾斜使得重复定位变得困难。因此，我们设计了一种由一对Y形电磁铁和六个压电执行器组成的新型全向尺蠖机构，以防止电磁铁倾斜。此外，我们还解释了新开发机构的驱动原理。最后，我们展示了带有有效载荷的四个方向平移运动定位重复性的实验结果。
In this paper, we describe the design, development and experimental results of a 3-DOF precise inchworm mechanism with six contact points. During the last ten years, we have developed an omnidirectional and holonomic inchworm mechanism to provide flexible, compact, and precise microscopic processing. In a previous mechanism, four piezoelectric actuators connected a pair of U-shaped electromagnets arranged to cross each other so that the mechanism can move precisely in any direction. However, positioning repeatability was made difficult by an inclination of the U-shaped electromagnets. Therefore, we designed a new omnidirectional inchworm mechanism composed of a pair of Y-shaped electromagnets and six piezoelectric actuators to prevent the inclination of the electromagnets. In addition, we explain the drive principle of the newly developed mechanism. Finally, we show the experimental results of the positioning repeatability of translational motions in four directions with a payload.
DOI：
10.1016/j.precisioneng.2009.05.008
发表时间：
2010-01-01
影响因子：
3.6
作者：
Kimura, Akihide;Gao, Wei;Zeng Lijiang
通讯作者：
Zeng Lijiang