[1]耿冉冉,姚志远,徐 豪,等.柔性并联微夹取器的动力学分析及试验研究[J].机械与电子,2021,(02):33-38.
　GENG Ranran,YAO Zhiyuan,XU Hao,et al.Dynamic Analysis and Experimental Study of a Flexible Parallel Microgripper[J].Machinery & Electronics,2021,(02):33-38.
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柔性并联微夹取器的动力学分析及试验研究()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2021年02期
页码:
33-38
栏目:
机电一体化技术
出版日期:
2021-02-26

文章信息/Info

Title:
Dynamic Analysis and Experimental Study of  a Flexible Parallel Microgripper
文章编号:
1001-2257(2021)02-0033-06
作者:
耿冉冉1; 姚志远2; 徐 豪2; 黄亚洲1

1.南京工程学院工业中心、创新创业学院，江苏 南京 211167；

2.南京航空航天大学机械结构力学及控制国家重点实验室，江苏 南京 210016

Author(s):
GENG Ranran1;  YAO Zhiyuan2; XU Hao2;  HUANG Yazhou1
 1. Industrial Center/School of Innovation and Entrepreneurship, Nanjing Institute of Technology, Nanjing 211167, China ;
2. State Key Laboratory of mechanical structure mechanics and control, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
关键词:
微夹取器; 动力学模型; 柔性铰链; 仿真计算
Keywords:
microgripper;  dynamic model;  flexible?hinge;  simulating calculation
分类号:
TP24
文献标志码:
A
摘要:
针对一种具有毫米级操作空间和纳米级位移分辨率的、由直线超声电机驱动的柔性并联微夹持器，进行了动力学建模分析，并进行了试验研究。基于筷子夹取物体的操作原理，该微夹持器采用并联双层的结构形式。利用单位向量法，基于万向柔性铰链两端面始终平行的假设建立了微夹持器的运动学模型，表明了电机输入与操作末端输出之间的关系。采用ADAMS软件构建了微夹持器的刚柔耦合动力学仿真模型，由反向动力学仿真分析得到了微夹持器运行过程中几个重要的特征参数；由向前动力学仿真分析得到了操作末端，即探针尖端在给定输入函数下的位移、速度和加速度响应参数。对微夹持器的性能测试和夹取试验结果表明，该微夹持器的运行范围为2 332 μm×2 109 μm×20 000 μm，位移分辨率达到0.1 μm，能够实现对微小物体的夹取操作。
Abstract:
This paper presents the dynamic modeling analysis and the experimental study of a flexible parallel microgripper driven by linear ultrasonic motors with millimeter-level operating space and nanometer-level displacement resolution. Based on the operation principle of chopsticks to pick up objects, the microgripper adopts the structure of parallel double layers. Based on the assumption that the two end faces of the flexure hinges are always parallel, the kinematic model of the microgripper is established by using the unit normal vector method. The relationship between the input of the motors and the output of the end-effector is derived. The rigid-flexible coupling dynamic simulation model of the microgripper is constructed in ADAMS software. The important characteristic parameters of the microgripper are obtained through the reverse dynamic simulation analysis. Additionally, the displacement, velocity and acceleration response parameters of the end-effector, i.e. the tip of the probe under the given input function are calculated from the forward dynamic simulation. The results of the performance tests and grasping experiments show that the operating space of the microgripper is2332μm×2109μm×20000μm, while the displacement resolution is 0.1μm. The microgripper can be used to grasp pollen cells with tens of micrometers and other small objects, which illustrates the operating system has good performance and reliability.

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备注/Memo

备注/Memo:
收稿日期:202010-19
基金项目：国家自然科学基金52075261）；江苏省自然科学基金（BK20191018）；国家自然科学基金青年基金51805242）

作者简介：耿冉冉（1987--）女，山东济南人，博士研究生，讲师，研究方向为微型机械结构的模态及试验研究，通信作者；姚志远（1961--），男，江苏镇江人，教授，博士研究生导师，研究方向为直线超声电机的结构设计、整机建模等。

更新日期/Last Update: 2021-02-26