新型三自由度微操作平台的动力学性能研究  

An Investigation on Dynamics Performance of a Novel 3-DOF Micromanipulator

作　　者：李杨民[1,2] 李祥春 徐洪业 丁冰晓 LI Yang-min;LI Xiang-chun;XU Hong-ye;DING Bing-xiao(School of Mechanical Engineering,Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;Department of Industrial and Systems Engineering,The Hongkong Polytechnic University,Hongkong 999077,China;Faculty of Science and Technology,University of Macao,Macao 999078,China)

机构地区：[1]天津理工大学机械工程学院天津市先进机电系统与智能控制重点实验室,天津300384 [2]香港理工大学工业与系统工程学系,香港999077 [3]澳门大学科技学院,澳门999078

出　　处：《机械设计与制造》2019年第12期255-258,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(51575544);天津市自然科学基金(重点项目)资助项目(16JCZDJC38000)

摘　　要：提出了一种新型三自由度柔性并联微操作平台,该平台采用压电陶瓷驱动器为驱动装置,以新型二级杠杆放大机构作为放大器来扩大压电陶瓷驱动器的输出行程,在功能上可以实现X轴、Y轴以及Z轴方向的微米范围内移动。首先通过拉格朗日方程建立了该三自由度柔性并联微操作平台的动力学模型,然后计算了该机构的理论固有频率,最后采用有限元软件对该微操作平台进行了模态分析。结果表明该机构的理论固有频率与有限元仿真分析中的第一阶模态结果相比其误差率仅为2.54%,验证了固有频率理论分析的正确性及可行性。It proposes a three degrees of freedom(DOF)compliant parallel micromanipulator(CPM),which driven by the pie-zoelectric(PZT)actuator.A novel type of secondary lever mechanism is adopted as amplifier to compensate the output stroke of the PZT actuator,and the CPM can realize micro meter range translational motion along X axis,Y axis and Z axis.Firstly,the dynamic model of the 3-PRC compliant parallel micromanipulator is established based on Lagrange’s equation,and then the theoretical natural frequency of the mechanism is calculated,finally the modal analysis of the 3-PRC compliant parallel micromanipulator is carried out by using finite element software.The results show that the deviation between the theoretical and the nature frequency of finite element simulation analysis is only 2.54%,which verified the correctness and feasibility of the theoretical analysis of the nature frequency.

关 键 词：3-PRC 二级杠杆放大机构 微操作平台 动力学 固有频率 模态分析 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.6[自动化与计算机技术—检测技术与自动化装置]