【作者】 蔡建华；

【导师】 黄心汉；

【作者基本信息】 华中科技大学 ， 控制理论与控制工程， 2006， 硕士

【摘要】 微机器人是近年来机器人领域研究的热点之一,根据实际操作的尺寸和用途的不同,可分为微型机器人和微操作机器人。而微装配机器人是微操作机器人中的一个重要分支,是机器人化装配与微操作技术结合的产物,目前在微零件装配、微机电系统(MEMS)、精密光学等领域有着广泛的应用前景。本文以微装配机器人系统的研制为背景,以微夹钳技术在微装配中的应用为主线,着重对微夹钳的机械结构、微夹钳的驱动装置、控制器的设计等进行了相应的研究与讨论,并且对微夹钳进行了分析,建立了相应的数学模型,通过理论推导实现对夹持力的检测。在863计划项目的支持下,在我们自行研制的微装配机器人系统基础上,提出了一种新型的基于压电双晶片的微夹钳。该微夹钳采用双悬臂梁结构,由直流电源驱动,能很好地完成微装配任务要求的抓取、释放等操作。本文主要的突破点在于在微夹钳的基础上集成了微力感知功能。通过微夹钳根部的应变信号来判断是否夹紧物体以实现自动夹取功能;同时实现微夹持力的检测与控制,从而保证不损伤被夹持微小零件。详细讨论了压电悬臂梁的数学模型以及受力模型,分别分析了压电双晶片的微位移-电压、夹持力-应变的关系;并根据应变信号计算出微夹钳的夹持力。实验证明该微夹钳工作可靠,能够满足微装配机器人装配任务的要求。论文结尾对全文做了总结,并对微装配机器人技术、微夹钳技术、信息反馈等进行了展望。更多还原

【Abstract】 Micro robotics is one of the most important technological trends in the recent years, which can be classified into micro-robot and micromanipulator by their size and designed purpose. As one kind of micromanipulators, microassembly robot is the combination of robotic assembly and micromanipulation. And it is demanding in various fields, such as micro-parts assembly, MEMS (Micro Electro Mechanical Systems) and precise optical projects. This dissertation mainly aims to the application of microgripper technology in microassembly system and several topics, such as the structure, driver and controller of the microgripper, have been discussed in detail. We have analyzed and modeled the microgripper, and then give the gripping- force theoretically.According to the background of our microassembly robot system which is supported by the National High Technology Research and Development Program of China, we have made a study and present a new structure microgripper by piezoelectric bimorph. The microgripper is based on the dual cantilevers structure and is driven by two piezoelectric bimorphs, and can complete grip and release actions which are demanded by microassembly tasks.The main innovative point is that the microgripper is integrated by the micro-force detection. It can judge weather the micro object has been clamped and how much force the object is suffered by the strain signal at the root of microgripper. So we can make sure the micro objects not be destroyed by larger force.In addition, we modeled the piezoelectric bimorph and make the micro-force analyses, and got displacement-voltage relationship and force-strain relationship theoretically. Then we can calculate the micro gripping-force by the strain signal. The experiments testify the gripper can work reliably and safely, it can closely satisfy the task of microassembly. The summary of the full text and the view of microassembly robot and microgripper researches have been shown in the end of dissertation.更多还原