一种具有力觉反馈的遥微操作系统分析  

Research on A Tele-Micromanipulation System With Force Sensing Feedback

作　　者：韩江义[1] 游有鹏[2] 虞启凯[2] 

机构地区：[1]江苏大学汽车与交通工程学院,江苏镇江212013 [2]南京航空航天大学机电学院,南京210016

出　　处：《机械设计与研究》2014年第4期47-50,58,共5页Machine Design And Research

基　　金：国家自然科学基金资助项目(NO.50975144);江苏大学高级人才基金资助项目(11JDGD44)

摘　　要：提出了一种主从式力反馈的遥微操作系统,目的在于实现微操作过程中的接触力反馈;对遥微操作系统进行了设计,搭建了包括操作主手,测控系统和微操作从手的试验平台。利用微夹持器和探针作为微操作从手的末端执行机构分别对金属轴和花粉颗粒进行微操作试验,实现了遥微操作中的力觉反馈。通过试验数据的测试和分析,获得操作试验中从手相对于手控器的时滞,为进一步完善力反馈遥微操作系统提供了依据。A master-slave tele-micromanipulation system with force sensing feedback is proposed, in order to realize the contact force feedback in micromanipulation; The tele-micromanipulation system is designed, the experiment table is built which included master manipulator, measurement and control system and slave micromanipulator. The operation experiments of the slender metal shaft and pollen particle were carried on by the microgripper and the probe as end-effectors of the slave micromanipulator, the experiments realized the force sensing feedback in the telemicromanipulator. The time-lag relative to slave hand and hand controller was obtained by testing and analyzing the experiment data, which provided the basis for making the tele-micromanipulation system with force sensing feedback perfected further.

关 键 词：遥微操作 力觉反馈 末端执行器 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]