| 基于压电陶瓷管的三自由度微操作手建模与实验 |
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| 引用本文： | 荣伟彬,孙立宁,曲东升,张涛,蔡鹤皋. 基于压电陶瓷管的三自由度微操作手建模与实验[J]. 压电与声光, 2002, 24(2): 160-164 |
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| 作者姓名： | 荣伟彬 孙立宁 曲东升 张涛 蔡鹤皋 |
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| 作者单位： | 哈尔滨工业大学机器人研究所,哈尔滨,150001 |
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| 基金项目： | 国家自然科学基金资助项目 (5 9785 0 0 2 ) |
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| 摘 要： | 微操作手是微操作机器人的重要组成部分，文章把压电扫描器的工作原理应用于微操作手的设计中，研制出压电陶瓷管驱动的三自由度微操作手，实现了机构、驱动、检测一体化设计，通过对四分压电陶瓷管的变形进行静力学分析，建立了微操作手微位移量与驱动电压的关系，修正了用几何法建立的公式，并通过实验对公式进行了验证。
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| 关 键 词： | 压电陶瓷 三自由度微操作手 建模 实验 微操作机器人 |
| 文章编号： | 1004-2474(2002)02-0160-05 |
| 修稿时间： | 2001-09-12 |
Modeling and Experiment of Three Degree-of-Freedom Micromanipulator Based on Piezoelectric Tube |
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| RONG Wei bin,SUN Li ning,QU Dong sheng,ZHANG Tao,CAI He gao. Modeling and Experiment of Three Degree-of-Freedom Micromanipulator Based on Piezoelectric Tube[J]. Piezoelectrics & Acoustooptics, 2002, 24(2): 160-164 |
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| Authors: | RONG Wei bin SUN Li ning QU Dong sheng ZHANG Tao CAI He gao |
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| Abstract: | Micromanipulator is one of the key components in micromanipulating robot.According to the principle of piezoelectric scanner,a three degree of freedom micromanipulator driven by piezoelectric tubes was developed.As a result,the integration of mechanism,actuator and sensor was realized.Thanks to static analysis for the deflection of piezoelectric tube with metal coating section,the formula establishing the relationship between microdisplacement and driving voltage was deduced.Accordingly,the model established only by geometrical relationship was corrected.Experiment shows that the microdisplacement calculated by new formula is agreed well with the measuring results. |
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| Keywords: | micromanipulating robot micromanipulator piezoelectric tube modeling |
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