夹钳式力反馈遥微操作系统的设计与试验  

Design and Experiments of Clamp Type Force-feedback Tele-micromanipulation System

作　　者：韩江义[1] 游有鹏[1] 王化明[1] 朱剑英[1] 

机构地区：[1]南京航空航天大学江苏省精密与微细制造技术重点实验室,江苏南京210016

出　　处：《机器人》2010年第2期184-189,共6页Robot

基　　金：国家自然科学基金资助项目(50975144);江苏省自然科学基金资助项目(BK2008395)

摘　　要：研制一种夹钳式的力反馈遥微操作系统,包括夹钳式主手、由压电陶瓷驱动的微夹持器和主从式力反馈控制模块.该系统可使操作者在遥微操作中具有夹持力觉临场感,避免破坏易碎的操作对象.详细介绍了夹钳式主手、从手和力反馈的设计与控制方法,并搭建试验平台进行遥微操作试验,分析了主手和从手之间的位置跟踪、力反馈和时滞特性.制作和试验结果验证了系统方案的可行性,为进一步将遥微操作应用于微装配和其他领域提供参考.A force feedback tele-micromanipulation system is developed, which consists of a clamp master-hand, a microgripper driven by piezoelectric ceramic, and force-feedback control module of master-slave pattern. The system makes operators obtain the telepresence of grasping force and avoid damnifying the crisp objects in tele-micromanipulation. Design and control method of the clamp master-hand, slave-hand and force feedback are introduced in detail, the experimental platform is set up, and the tele-micromanipulation experiments are carried out. The position tracking, force feedback and time delay between master-hand and slave-hand are analyzed. The results of fabrication and experiments validate the feasibility of the system scheme, and it provides reference for tele-micromanipulation applied to micro-assembly and other fields.

关 键 词：遥微操作 力反馈 临场感 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]