面向显微操作的混合驱动式微小型机器人的开发与应用  

Development and Application of a Hybrid-drive Miniature-robot for Micromanipulation

作　　者：张勤[1] 杜启亮[2] 吴志斌[1] 青山尚之 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510641 [2]华南理工大学自动化科学与工程学院,广东广州510641 [3]日本东京电气通信大学智能机械工学科

出　　处：《机器人》2012年第6期737-744,共8页Robot

基　　金：广东省国际合作计划资助项目(2009B050700018);广东省教育厅高校国际科技合作创新平台资助项目(GJHZ1002);机器人技术与系统国家重点实验室开放基金资助项目(SKLRS-2010-MS 16)

摘　　要：提出了一种适用于显微操作的混合驱动式微小型机器人,它由平面行走模块和纵向微动模块两部分组成.其中,平面行走模块采用尺蠖蠕动式驱动原理,在堆叠式压电陶瓷的驱动下通过2块电磁铁的协调动作可以实现在铁磁性工作台上的前后移动、左右转弯及原地旋转运动;纵向微动模块采用线性音圈电机(LVCM)驱动,通过改进传统音圈电机的结构形式,克服了重力方向驱动时容易产生高频率的振动、重复精度差等非线性问题,实现无摩擦的竖直方向运动.分析了各模块的驱动原理、性能和负载特性,并通过显微操作自动对焦实验验证了所开发的混合驱动式微小型机器人的有效性和其应用的可行性.A hybrid-drive miniature-robot for micromanipulation is proposed. The robot consists of a planar mobile module and a vertical micro-motion module. Based on the principle of inchworm peristalsis, the planar mobile module driven by stacked piezoelectric ceramics may move like a mobile robot on a magnetic plane through cooperation of two electromagnetic nuts, such as moving forward or backward, turning left or right, and rotating with zero radius on a surface. The vertical inching module is driven by a linear voice coil motor （LVCM）. With an improved structure different from those of traditional VCMs, the proposed LVCM gets rid of the nonlinear problems such as high frequency vibration when driven in the gravity direction and low precision with traditional VCMs, and hence achieves frictionless vertical motion. The driving principles, performance and payload characteristics of the modules are analyzed, and an experimental application in automatic focusing for micromanipulation is carried out to verify the effectiveness and application feasibility of the presented hybrid-drive miniature-robot system.

关 键 词：微小型机器人 混合驱动 显微操作 微移动机器人 音圈电机 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]