首先针对微操作的特点,提出了面向生物工程的微操作机器人机构选用与设计准则.列举了各种可能的3自由度并联机构型式,运用螺旋理论对3自由度平动并联机构型综合的机理作了分析与解释.在此基础上,对3自由度平动并联机构进行了型综合.定性地分析了各类机构作为微动机器人机构所具有的优缺点,从而选择出适合用于生物工程领域微操作的机型.最后给出了机构的CAD模型和实体模型.%Firstly aiming at the characteristic of micromanipulation, the guidelines for selecting and designing micromanipulation mechanisms for bioengineering are proposed. In order to solve the problem of type synthesis of 3 DOF translational parallel mechanism, all the possible types of parallel mechanisms with 3 DOF are numbered, and the principles for the mechanism synthesis are also explained by applying the screw theory. In addition, based on the consideration for the advantages and disadvantages of the mechanisms as micromanipulators, some types of the mechanisms suitable for the micromanipulation for bioengineering are chosen. At last, both the CAD model and the available prototype of this mechanism are presented.
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