机器人压电陶瓷微操作手的设计  

Design of Piezoceramics Micro-Gripper of Robot

作　　者：雷志刚[1] 黄心汉[1] 

机构地区：[1]华中科技大学控制科学与工程系,湖北武汉430074

出　　处：《兵工自动化》2004年第2期21-22,35,共3页Ordnance Industry Automation

摘　　要：机器人微操作手设计采用压电伸缩陶瓷微位移器。操作手手指由两面各粘1片压电陶瓷的金属片构成压电陶瓷梁。两片压电陶瓷的逆压电效应相反,外加电压时,一片收缩另一片伸长,自由端发生弯曲变形。改变加电压方向控制悬臂梁夹持物体,电压为零时释放物体。微操作手的移动、夹持和释放等操作由摄像头反馈给计算机控制处理。Piezoceramics telescopic micro-actuator was used in design of micro-gripper of robot. The finger of micro-gripper is made of a thin metal beam with piezoceramics piece on both sides. Inverse piezoelectric effect of two piezoceramics pieces is opposite. When injected high voltage into the finger, one piece contracted and other elongated, made end-effector induce deformation. Cantilever beam holding object is controlled through changing direction of voltage applied. When the voltage is zero, release the object. The operations of motion, holding and releasing of micro-gripper were sent by camera into computer to control and process.

关 键 词：机器人 压电陶瓷 微操作手 微位移驱动器 设计 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]