【作者】 李琳琳；

【导师】 李仕华；

【作者基本信息】 燕山大学 ， 机械电子工程， 2012， 硕士

【摘要】 目前，微动机器人研究已成为机器人研究领域的热点课题之一。微动机器人可以实现精细操作，其定位精度可以达到亚微米甚至纳米级，已被广泛应用于生物医疗、航空航天等领域。而在微动机器人的结构设计中，具有刚度大、承载能力强等优点的并联机构得到了很好的应用。本文在3-5R并联微动机构分析的基础上，不仅对其位置、刚度进行了研究，同时设计了该机构的控制实验系统。位置分析和刚度分析是并联微动机构分析中比较重要的两个部分。针对微动机构的特点，采用微分法和柔度矩阵法对该机构进行位置分析和刚度分析，建立输入输出关系的特征矩阵和刚度模型，并采用有限元的方法进行验证，为控制该微动机构做了铺垫。由于PID和神经网络CMAC控制算法有着各自的优点和缺点，所以再对这两者进行分析和研究之后，本文采用神经网络PID的控制方法。通过仿真分析，证明PID和CMAC复合控制具有很好的控制效果，可以满足微动机构应用的要求。微动机构是比较特殊的机构，其运动是通过材料的柔性变形实现的，所以设计实验系统时，不能采用普通的电机驱动。本文设计了以压电陶瓷驱动电源、压电陶瓷驱动器和测微仪等为硬件结构的实验系统，并通过LabVIEW编程语言对控制系统软件进行了功能开发。最后对该机构进行轨迹规划分析和控制器实验研究，从而验证了本文设计的控制系统是正确的，为以后的进一步研究打下基础。更多还原

【Abstract】 In the research field of robotics, micromanipulator has now become one of thehot topics. The micromanipulator can achieve fine operation, positioning precision atsubmicron even to the nanometer level, and has been widely used in biology, medical,aerospace and other fields. Because having the advantages of high rigidity, strongbearing capacity etc, the parallel mechanism has a good application in the structuraldesign of micromanipulator.On the basis of the analysis of 3-5R parallel micromanipulator, this paper notonly researches its position and stiffness, but also designs the control experimentsystem of the mechanism.The analysis of position and stiffness are more important two parts of parallelmicromanipulator. According to the characteristics of micromanipulator, this paperanalyses position and stiffness respectively by using differential method and flexibilitymatrix method, establishes the characteristics matrix between input and output andstiffness model, then uses the finite element method for validation, and establishesfoundation for controlling the micromanipulator.Since the control algorithms of PID and CMAC neural network have their ownadvantages and disadvantages, this paper uses neural network PID control methodafter researching the two control algorithms. Through the simulation analysis, PID andCMAC compound control has a good control effect, and can meet the requirements ofthe application of micromanipulator.Micromanipulator is a special mechanism, and its movement is implemented bythe flexible deformation of the material, so in the design of experiment system, we cannot adopt ordinary motor drive. This paper designs an experimental system of PZTdrive power, PZT actuators and micrometer etc, they constitute the hardware, and theprogramming of software is accomplished by LabVIEW.At last, the paper analyses the trajectory planning and the result of controller’sexperiment, which proves the validity of this control system and establishes the foundation for further study.更多还原