首页 | 本学科首页   官方微博 | 高级检索  
相似文献
 共查询到19条相似文献,搜索用时 109 毫秒
1.
微机械手是一种典型的微型执行器,是微型机电系统(MEMS)的重要研究内容之一.以基于柔性铰链的电热驱动硅微机械手为研究对象,建立了微夹钳的二次超静定力学模型,导出了钳口处输出位移的解析式,并在此基础上对硅微机械手的性能进行了分析.分析表明,微夹钳的输出位移与柔性铰链切割半径成正比,切割半径越大,输出位移越大;对各加载电压下的微夹钳输出位移,其试验和理论结果的变化趋势一致,即微夹钳输出位移随输入电压的增加基本呈线性增加.  相似文献   

2.
根据惯性约束聚变(ICF)靶零件的特点,确定用于ICF靶半自动装配系统微夹钳的技术指标,并完成其结构设计.该微夹钳采用柔性铰链机构和压电陶瓷驱动,可根据需要更换不同形状和开口距离的夹口,以适应夹持不同靶零件.以压电陶瓷的2种极限参数为载荷,分析了微夹钳的张合量、应力分布、应变量,并采用非线性接触分析对夹持力和夹持效果进...  相似文献   

3.
在基于静电场原理的微纳力值测量系统中,力值的传递与转化机构起着至关重要的作用。选择平行四边形柔性铰链机构作为其弹性元件,以实现10-6N量级的力值测量。分析了柔性铰链的数学模型,研究了其静态与动态刚度;根据系统要求确定了柔性铰链的目标刚度,并采用有限元方法对其进行优化设计和模态分析;分析了加工精度对铰链刚度的影响。将该铰链用于微力测量系统中,通过实验给出了刚度测试结果和力值测量结果,实验表明,该平行四边形柔性铰链满足微力测量系统对10-6N量级的力值测量要求。  相似文献   

4.
李嘉  王纪武  陈恳  张伯鹏 《机器人》2000,22(2):89-95
本文基于牛顿 欧拉法建立了一类PSS副、带柔性铰链的六自由度并联微机器人的 逆动力学方程,这是设计、控制微机器人的前提和基础.所建模型不仅考虑了因柔性铰链的 特殊性,微机器人连杆绕自身轴线转动的内部运动,还分析了柔性球铰弹性变形产生的反力 矩.由于微机器人机构本体以及逆动力学建模过程中所固有的并联特性,对逆动力学可实施 并行算法.最后以一实例进行了仿真分析,仿真结果表明微机器人所需驱动力呈线性变化, 揭示了微机器人在微动情况下的线性本质.  相似文献   

5.
摩擦是影响机械导轨运动平台精度的主要原因.宏微复合运动平台将无摩擦的柔性铰链与直线平台结合在一起,利用柔性铰链的弹性变形补偿摩擦死区.然而,柔性铰链的固有频率低,其非线性弹性振动严重影响微平台定位精度.为此,本文设计视弹性振动为扰动的自抗扰控制策略,该方法避免了建立非线性弹性振动精准数学模型的困难,利用扩张状态观测器主动估计弹性振动及不确定性,并在微平台位置环补偿之,以保证微平台定位精度.与此同时,在控制律中加入加速度前馈以提高系统响应速度.对于宏平台,采用PID控制作为宏平台位置环的控制策略,并通过宏微双级驱动方式补偿受机械导轨非线性摩擦带来的影响.实验对比结果表明,自抗扰控制在受非线性弹性振动影响时,其抗扰性能、跟踪性能优于传统的PID控制,可保证微平台良好的定位精度.  相似文献   

6.
姜文锐  卢泽生 《传感技术学报》2006,19(5):1555-1558,1562
为了解决宏/微驱动系统中大行程和高精度之间的矛盾,研制了一种基于摩擦工作原理的压电陶瓷驱动的新型大行程、高分辨率步进式微执行器,该微执行器的行程为300mm、位移分辨率为0.02μm.提出了一种新型的基于压电陶瓷的柔性四杆型可调预压装置,并进行有限元分析.建立了微执行器系统的动力学模型,基于Karnopp“粘滞-滑移“摩擦模型分析微执行器力学特性.对微执行器的运动特性进行实验测试.  相似文献   

7.
微加速度计中新型微杠杆机构设计和分析   总被引:4,自引:0,他引:4  
设计谐振式微加速度计时,需要考虑一个最关键的问题是提高其灵敏度.放大质量块产生的惯性力是提高灵敏度的最有效方法.基于柔性铰链技术设计一种新型两级微杠杆放大机构,并建立了放大机构的力学和数学模型,在此基础上进行了解析法分析和参数优化设计;同时利用有限元分析方法对其进行了仿真计算.计算结果显示机构的放大倍数约为102倍.这一设计方案极大地提高了微加速度计的灵敏度.  相似文献   

8.
与静电微执行器类似,磁微执行器中也存在重要的Pull-in失稳问题.但相对于静电微执行器详尽的模型相比,研究磁微执行器的文献很少.对于宏观器件,由于磁芯磁阻可以忽略,所以可利用电磁类比,得到Pull-in失稳参数.而对于微观器件,磁芯磁阻不可以忽略.不可利用电磁类比.基于小信号模型对衔铁平行运动的磁微执行器Pull-in的失稳现象首先进行了分析和建模,考虑了微磁芯磁阻,在建立磁微执行器动态小信号模型的基础上,分析发现衔铁平行运动的磁微执行器中不存在Pull-in现象.然后又采用能量法研究了同样的Pull-in失稳问题,得出了和力法相同的结论.最后,给出了一个分析实例,以反映微磁芯磁阻对Pull-in的影响,同时证实了衔铁平行运动的磁微执行器中不存在Pull-in现象的结论.结论对于磁微执行器的设计具有重要意义.  相似文献   

9.
一种带力传感的微夹持器设计及试验   总被引:4,自引:0,他引:4  
设计制作一种带力传感的微夹持器,通过压电陶瓷堆驱动和柔性铰链放大来实现夹持动作,由粘贴于悬臂应变梁的半导体应变片构成惠斯通电桥测量微夹持力.优化设计了柔性铰链的结构,对悬臂式应变梁进行了仿真分析.最后,制作并组装成微夹持器,进行了力传感标定试验和微夹持操作试验.制作和试验结果验证了这种带力传感的微夹持器的可行性和实用性.  相似文献   

10.
为提高压电微夹钳的夹持性能,设计复合控制系统对其控制.通过引入死区算子对PI模型进行改进,建立了微夹钳的迟滞模型,进而设计出其前馈控制器;对常规PID算法进行改进,设计出抛物线积分与微分先行的微夹钳PID反馈控制器;将前馈控制同PID反馈控制相结合,设计出微夹钳的复合控制器.在复合控制作用下,微夹钳达到5μm阶跃目标位移的响应时间为0.09 s,略快于前馈控制,明显快于PID反馈控制;在最大位移为15.2μm的参考输入作用下,若不考虑传感器噪声,复合控制的稳态误差几乎为0.实验结果表明,同前馈控制与PID反馈控制相比,复合控制具有良好的综合控制效果,即响应速度快、稳态精度高.  相似文献   

11.

3D printing offers great potential for developing complex flexure mechanisms. Recently, thickness-correction factors (TCFs) were introduced to correct the thickness and stiffness deviations of powder-based metal 3D printed flexure hinges during design and analysis. However, the reasons for the different TCFs obtained in each study are not clear, resulting in a limited value of these TCFs for future design and fabrication. Herein, the influence of the porous layer of 3D printed flexure hinges on the hinge thickness is investigated. Samples of parallelogram flexure mechanisms (PFMs) were 3D printed using selective laser melting (SLM) and 316L stainless steel powder. A 3D manufacturing error analysis was completed for each PFM sample via 3D scanning, surface roughness measurement and morphological observation. The thickness of the porous layer of the flexure hinge was independent of the designed hinge thickness and remained close to the average powder particle diameter. The effective hinge thickness could be estimated by subtracting twice the value of the porous layer thickness from the designed value. Guidelines based on finite element analysis and stiffness experiments are proposed. The limitations of the presented method for evaluating the effective hinge thickness of flexure hinges 3D printed via SLM are also discussed.

  相似文献   

12.
Two-axis flexure hinges with axially-collocated and symmetric notches   总被引:1,自引:0,他引:1  
The paper introduces a new class of two-axis flexure hinges with axially-collocated and symmetric notches as an alternative to the existing flexure designs with serially-disposed notches. A generic formulation is developed in terms of the geometric curves defining the two notches which includes assessing the capacity of rotation, precision of rotation, sensitivity to parasitic effects, stress values, motion efficiency and shearing effects by means of compliance factors. Closed-form compliance equations are derived for a two-axis flexure hinge that is defined by two non-identical parabolic profiles. The analytical model predictions are confirmed by finite element data. A numerical comparison is made of the parabolic flexure with a constant rectangular cross-section flexure hinge in terms of several performance criteria.  相似文献   

13.
基于压电陶瓷驱动的腹腔手术微型机器人   总被引:1,自引:0,他引:1  
马记  吴月华  许旻  杜华生  杨杰 《机器人》2003,25(4):335-338
本文简要介绍了一个基于压电陶瓷驱动的腹腔手术用微型机器人系统,重点叙述了 微型机器人关节驱动部件的结构设计方案及其实现,对所设计的柔性铰链进行了定量力学分 析,并通过实验证明采用柔性铰链来实现驱动位移的放大是确实可行的.  相似文献   

14.

Microgrippers are commonly used for micromanipulation of micro-objects with dimensions from 1 to 100 µm and attain features of reliable accuracy, low cost, wide jaw aperture and variable applied force. This paper studies the design process, simulation, and testing of a microgripper which can manipulate and assemble a platinum resistance temperature probe, made from a 25 µm diameter platinum wire, a 20 mm diameter tinned copper wire, and a printed circuit board type connector. Various microgripper structures and actuator types were researched and reviewed to determine the most suitable design for the required micromanipulation task. Operation tests using SolidWorks and ANSYS software were conducted to test a parallelogram structure with flexible single-notch hinges. The best suited material was found to be Aluminium alloy 7075-T6 as it was capable of producing a large jaw tip displacement of 0.7 mm without exceeding its tensile yield strength limit. A shape memory alloy was chosen as a choice of actuator to close the microgripper jaws. To ensure a repeatably accurate datum point, the final microgripper consisted of a fixed arm and a flexible arm. An optimisation process using ANSYS studied the hinge thickness and radius dimensions of the microgripper which improved its deflection whilst reducing the experienced stress.

  相似文献   

15.

The extremely high work-to-volume ratios of the SMA actuators make them suitable to be used as a powerful actuator in micro-scale manipulation. In this study, an easily manufacturable micro-gripper with shape memory alloy (SMA) wire actuator was designed and manufactured. The concept of the designed micro-gripper was based on flexible hinge structures to increase the deflection efficiency and strength. The size of microgripper was a significant criterion in our design. Also, innovative layout in locating of SMA wire caused the microgripper to gripe and manipulate a boarder range of objects. The finite element method was used to analyze and calculate the stress distribution and jaw’s deflection in the gripper. In order to verify the modeling results, an experimental analysis by building a set-up for micro-gripper and running tests were implemented and it showed a good agreement with the modeling results. The approximate size of the micro-gripper is about 12 × 10 mm and its maximum achievable deflection is 200 μm which is perceptibly higher than SMA actuated micro-grippers with the same size.

  相似文献   

16.
There is increasing consumer’s demand for high-quality and high-performance mobile imaging devices. In this paper, an auto-focusing (AF) actuator with a flexure hinge that uses the electromagnetic (EM) circuit of a voice coil motor was designed and evaluated. The flexure hinge was designed by using finite element analysis. The EM circuit was designed based on the structural stiffness of the device. The EM circuit was analyzed using the design of experiments procedure. Based on the results, the effective design parameters were selected, and improvements were made to the design. Finally, a prototype of the AF actuator was manufactured, and the feasibility and performance of the actuator with the flexure hinge were verified experimentally. The experimental results indicated that the proposed actuator performed adequately and satisfied the design requirements.  相似文献   

17.
Qin  Feng  Huang  Hu  Wang  Jiru  Zhao  Hongwei 《Microsystem Technologies》2019,25(10):3891-3898
Microsystem Technologies - A stick–slip actuator with a centrosymmetric type flexure hinge mechanism was presented in this paper. The dimension of the actuator is approximately...  相似文献   

18.
This paper deals with the modeling and control of a microgripper devoted to micromanipulation and microassembly applications and tasks. Based on two collaborative piezoelectric actuators, the microgripper is typified by a high sensitivity to the environment, in particular a high sensitivity to the properties of the manipulated objects. This sensitivity makes the behavior of the microgripper variable and uncertain versus the environment and consequently makes the tasks lose performances. A possible way to overstep that problem is to model the microgripper behavior and its dependency with the environment as perfect as possible and then calculate a controller from this. However, such model is complex to handle and the yielded controllers are often very complex for implementation. In this paper, we propose to use interval models to describe the behavior of the piezoelectric actuators that compose the microgripper. Then a controllers synthesis consisting in combining interval techniques and classical control theory is proposed. Both the position and the force raised in the microgripper are considered. The main advantages of the proposed technique are: 1) ease and natural way to model the uncertainties, 2) the robustness of the synthesized controllers, 3) and the derivation of low order controllers that are easier for implementation relative to those of classical robust control techniques. Finally, the paper presents the application of the controlled microgripper to an automated pick-transport-andplace task of micro-objects. This automated task demonstrates the efficiency of the control technique in micromanipulation and microassembly applications.  相似文献   

19.
The development of a SU-8-based microgripper that can operate in physiological ionic solutions is presented. The electrothermally activated polymer gripper consists of two “hot-and-cold-arm” actuators that are fabricated in a two-mask surface micromachining process. The high thermal expansion coefficient of SU-8 (52$ ppm/^circ C$) compared to silicon and metals, allows the actuation of the microgripper with small average temperature elevations (10 – 32$^circ C$) at low voltages (1–2 V). The polymer microgripper can be used for the manipulation of single cells and other biological species in solution with minimal undesired interactions.hfillhbox[1330]  相似文献   

设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号