【正文】 he Z axis, a rotary movement, while neglecting the other direction on the transfer. Crankshaft can connect all being used as a spring, in the strength of the needs or the needs of start or bending moment (or pressed). Therefore, in order to calculate input to the operation of machinery, we must use the same output as a reference to obtain the analysis of the fixed model.Be fixed ontology of the ichain can be written (9), including iKj said that the first paragraph i jlinked connections of fixed structure. In a state of equilibrium, the machinery of the potential energy storage can be used (10), which [iG φ u] said that contrary Jacobian φ and u make a fine replacement, can inversus [iG φ u] access. [Kuu] that fixed by the bulk of the operational space. Formula (10), we can see that the output can be fixed Ontology (11) said. According to the formula (11), an effective vector output attributed to the transfer of δ u, is defined as (12), which we should pay attention to is that when the system is symmetrical structure and the same location of the three chains have the same fixed link of the , [Kuu] is a diagonal. Ⅳ with six movable structure kinematic analysis system。Ⅳ. with six movable structure kinematic analysis systemWhen each of the link was considered Crankshaft Figure 3 (b) shown with two degrees of freedom, the movable structure is six. Records of each chain according to the first axis direction Crankshaft has extended an additional threevector form of connectivity. Will be described below in the kinematic analysis of this situationA first kinematics Each of the chain, the center position (x, y) and the operating platform of the position were expressed as φ (13), (14), (15). Figure 3 of the length of the actual connectivity for Li1 said, the ihi2 said that the chain of threevector form of the transfer link, that link Iij of fixed length. Distinguish between the chain on each row between the first time kinematic output equation can be used (16) said. Because of three consecutive platform in the center of the chain have the same rate of the output vector, we have the formula (17), (18). Here, we think that every first and third chain of connections is independent of the connection. Therefore, a total of six separate connections. If rearranging (17), (18), then independent of the connection (φ a) and the associated connectivity of (φ p) by the relationship between the (19) was. To (19) Insert (16) in (20). Finally, the output of separate connections and the relationship between the rate adopted (21) available.B, on the contrary kinematics The platform is a central location (x, y) position and a point of φ, all tied location of the chain links are available. But because small and mobile (21) equal relations from (22) available. In the six movable structure system, φ a u scope than the large scale. Therefore, (22) to the contrary relations from (23) available, which add to the [Gua] pseudoopposite deposition [Gua] + said. This shows that the potential energy system will be kept to the minimum extent is the best split (22) for the conditions. [K φ aa] that an effective fixed ontology and six independent of the connection, see (24), which said that [Kpp] ontology and related fixed line connecting devices. Finally, the independent connectivity products and the transfer of related links from (25), (26) was.C, a fixed model And connecting independent subsidiary of the fixed link of the respective body languages (27), (28), which iKj expressed that the first ij chain of fixed connections. Ontology pliance with the output (24) equal to the fixed body, expressed as (29), which [Caa] = [K φ aa] 1. Therefore, the effective output vector attributable to the δ u, defined as (30), [] = [Kuu Cuu] 1. Ⅴ.Simulation Test FEM analysis can be used to prove the feasibility of a fixed model. Given the inherent minimal transfer platform for the operation of power systems transfer vector formula can be adopted (12) or formula (30) calculated. In FEM environment, the force applied to real vector model. Eventually, by parison, from the initial analysis model is the transfer of FEM model output displacement vector can be tested based on dynamic analysis of the feasibility of a fixed model.Working space in the x and y direction is 0 ~ 100 um, in the direction of θ 0 ~ 176。. FEM simulation test results in Figure 4 to can be seen in Figure 6. Variable structure has three micromechanical devices in order and all other direction have shown a serious mistake. On the other hand, with six of the variable structure in order micromechanical devices showed 5 to 10 per cent of the small mistakes, and in other aspects of performance are only some small mistakes negligible, therefore, have six variable structure System than three variable structure of the system of higher precision. Ⅵ.fixedanalysis testCrankshaft from nine developed a mechanical hand can produce a metal Machine. Six contrary piezoactuator launched and put into use. Piezoactuato diameter is um. Machines in the x and y directions to the extent permitted by the 0 ~ 100 um, in the direction of θ 0 ~ 176。. In this part, we have done a number of simulation experiments to prove the validity of test results. These trials are designed to simulate and forecast through fixed, the machine proved developed operational trends and the development of fixed value. Figure 8 shows the experimental operation. In Figure 9 describes in more detail. Experimental estimates will be operational in fixed below. A cylindrical rod link in the system of six sports centre. A level Hengmu links in the top rod, which is used to measure root Hengmu fixed the rotation. Shoring success is a central part of the operation through a PICOMOTOR, terminal operations through LVDT to measure the displacement of. Engine installed in man