柔性导线微夹持系统结构设计  

Design for a Micro-gripping System Applied in Handling the Flexible Wires

作　　者：王跃宗[1] 隆超 王军帅 耿本良 WANG Yuezong;LONG Chao;WANG Junshuai;GENG Benliang(College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]北京工业大学机械工程与应用电子技术学院,北京100124

出　　处：《北京工业大学学报》2018年第6期831-836,共6页Journal of Beijing University of Technology

基　　金：国家自然科学基金资助项目(51675014);北京市自然科学基金资助项目(3172005)

摘　　要：为了实现柔性导线理线焊接的自动化,以直径几十微米的柔性导线为研究对象,设计了一种具有自动引线功能的柔性导线微夹持系统.把引线过程分解为定位、夹持、牵引和释放4个阶段,通过显微视觉系统计算显微对象之间的相对距离,利用微夹钳操作柔性导线.设计了柔性导线自动微夹持系统的结构,包括视觉系统、微夹钳和控制系统,对微夹钳的力学性能进行了仿真.实验结果表明:该系统能够准确计算微夹钳和导线之间的相对距离,并能成功实现夹持、牵引和释放导线的功能,能够用于任何柔性导线的微夹持环境中.To realize automatic welding flexible wire,a micro-gripping system applied in handling the flexible wires with a diameter of tens of microns was designed in this paper. The process of handling the flexible wires was divided into four sub-procedures,i. e.,the position computing,the wire-gripping,the wire-dragging and the wire-releasing sub-procedures,which were realized through different structures and methods. The position computing sub-procedure output the relative distance between the micro-gripper and the flexible wire,which was constructed through a microscopic stereovision system. The other three sub-procedures mainly for handling the flexible wires were realized through designing a micro-gripper.The structure of the micro-gripping system was designed and composed of microscopic the stereovision system,the micro-gripper and the control system. Moreover,the mechanical property of the micro-gripper was simulated precisely. Results show that our system can precisely compute the relative distance between the micro-gripper and the wire,and effectively grip,drag and release the flexible wires. The microgripping system can be widely used in the different areas of micromanipulation.

关 键 词：显微立体视觉 微夹持 微操作 

分 类 号：TP283[自动化与计算机技术—检测技术与自动化装置] TP391[自动化与计算机技术—控制科学与工程]