摘要
设计制作一种带力传感的微夹持器,通过压电陶瓷堆驱动和柔性铰链放大来实现夹持动作,由粘贴于悬臂应变梁的半导体应变片构成惠斯通电桥测量微夹持力.优化设计了柔性铰链的结构,对悬臂式应变梁进行了仿真分析.最后,制作并组装成微夹持器,进行了力传感标定试验和微夹持操作试验.制作和试验结果验证了这种带力传感的微夹持器的可行性和实用性.
A micro-gripper with force sensing is designed, and clamping motion is realized through piezoelectric ceramic stack actuation and flexible-hinge enlargement. Wheatstone bridge consisting of semiconductor strain-gauge stuck on the strain cantilever is used to measure the micro-clamping force. The structure of the flexible-hinge is optimized, and simulation analysis on the strain cantilever is carded out. Finally, the micro-gripper is fabricated and assembled, and calibration experiment of force sensing and micro-gripper operation experiment are carried out. Results from fabrication and experiments testify the feasibility and practicability of the presented micro-gripper with clamping force sensing.
出处
《机器人》
EI
CSCD
北大核心
2009年第1期67-71,共5页
Robot
基金
国家自然科学基金资助项目(50605031).
关键词
微操作
柔性铰链
力传感
micromanipulation
flexible-hinge
force sensing
