面向微操作的组合式微夹持器  

New micromanipulation-oriented combined micro-gripper

作　　者：陈立国[1] 荣伟彬[1] 孙立宁[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《哈尔滨工业大学学报》2006年第6期862-864,共3页Journal of Harbin Institute of Technology

基　　金：国防基础科研项目(k1401060130)

摘　　要：基于宏微结合的设计思想,提出一种组合式微夹持器结构.采用微直线电机机构实现毫米级的宏运动,采用双晶片压电悬梁机构实现微米级的微运动.介绍组合式微夹持器的组成原理并对压电悬梁形变特性进行了有限元分析.在此基础上,开发微夹持器宏微控制系统,实现了微位移闭环控制.测试实验表明,该微夹持器具有结构紧凑、操作空间大、精度高的特点.A new combined micro-gripper is developed. The macro part is driven by linear micro motor to achieve adjustment of macro positioning, and the micro part is driven by bimorph PZT to achieve micro grip operation. The structure of the gripper is introduced and the distortion characteristics of bimorph cantilever are analyzed. The control system is also designed to realize close loop control. The test experiments show that the combined micro-gripper is a compact structure and has a large ooeration space and high operating precision.

关 键 词：微操作 微夹持器 双晶片压电悬梁 微直线电机 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]