基于高频微幅振动的微操作机器人实验系统  

Development of High-Frequency and Micro-Amplitude Vibration Based Micro-operation Manipulator Experimental System

作　　者：李剑锋[1] 费仁元[1] 刘德忠[1] 吴光中[1] 管长乐[1] 杨小勇[1] 

机构地区：[1]北京工业大学机械工程及应用电子技术学院北京市先进制造技术重点实验室,北京100022

出　　处：《北京工业大学学报》2008年第3期225-230,共6页Journal of Beijing University of Technology

基　　金：国家自然科学基金(60275031).

摘　　要：研制出一种基于高频微幅振动的微操作机器人原型,其微动机构为3-RUU纯移动并联机构.并在动平台设置有高频微幅振动单元,联接于微振动单元的操作针能随动平台做较大范围的空间运动,同时操作针在微振动单元的激励下实现往复穿刺运动,通过复合完成微切剖作业.设计、制作了微操作机器人并以其为基本单元组建了微操作实验系统,结合牛卵细胞的初步操作对微操作实验系统的性能进行了验证,试验表明,微操作实验系统能成功地完成预期的操作任务,而且微体对象的弹性变形及物理损伤均较小,该系统可作为显微操作实验研究的物理平台.A high-frequency and micro-amplitude vibration based micro-operation manipulator prototype is developed, in which the 3-RUU pure translational parallel mechanism is adopted as the micro-motion mechanism, and a high-frequency and micro-amplitude vibration unit is fixed on its movable platform, the operational needle connected with the micro-vibration unit can moves with the movable platform in a larger spatial region, meanwhile the reciprocative piercing motion of needle is achieved by the actuation of micro-vibration unit. As a result, the integrative motion of operational needle for micro-dissection operation is generated. The micro-operation manipulator prototype is designed and fabricated, and a micro-operation experimental system is established where the micro-manipulator is used as a basic module. Performance of the experimental system is tested through initial operations of cow oocyte. The results shows that the developed experimental system can complete proleptic opertional tasks successfully, and both the elastic distortion and injure of cow oocyte are smaller. The presented experimental system can be adopted as the physical platform for microscopical operation study.

关 键 词：微操作机器人 高频微幅振动 实验系统 微操作实验 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP393[自动化与计算机技术—控制科学与工程]