The constant‐Jacobian method for kinematics of a three‐DOF planar micro‐motion stage
作者： W. J. Zhang , J. Zou , L. G. Watson , W. Zhao , G. H. Zong
DOI: 10.1002/ROB.1070
关键词: Constant (mathematics) 、 Planar 、 Forward kinematics 、 Compliant mechanism 、 Parallel manipulator 、 Jacobi method 、 Kinematics 、 Simulation 、 Control theory 、 Motion (geometry) 、 Computer science
摘要: This paper concerns the development of a class devices that generate end-effector motion in range less than 100 μm and with sub-nanometer resolution; particular, parallel manipulator configuration generates planar x-y-γ is considered. The implemented as compliant mechanism. A problem manipulators forward kinematics usually too complex, which can hinder implementation advanced control algorithms. contribution this simple method, called constant-Jacobian (CJ) developed based on pseudo-rigid body (PRB) approach to mechanisms. experiment validates CJ method. © 2002 John Wiley & Sons, Inc.
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