面向显微操作的混合驱动式微小型机器人的开发与应用

doi:10.3724/SP.J.1218.2012.00737

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引用本文:
张勤, 杜启亮, 吴志斌, 青山尚之 . 面向显微操作的混合驱动式微小型机器人的开发与应用[J]. 机器人, 2012, 34(6): 737-744.DOI: 10.3724/SP.J.1218.2012.00737. ZHANG Qin, DU Qiliang, WU Zhibin, AOYAMA Hisayuki. Development and Application of a Hybrid-drive Miniature-robot for Micromanipulation. ROBOT, 2012, 34(6): 737-744. DOI: 10.3724/SP.J.1218.2012.00737.

摘要

提出了一种适用于显微操作的混合驱动式微小型机器人，它由平面行走模块和纵向微动模块两部分组成．其中，平面行走模块采用尺蠖蠕动式驱动原理，在堆叠式压电陶瓷的驱动下通过2块电磁铁的协调动作可以实现在铁磁性工作台上的前后移动、左右转弯及原地旋转运动；纵向微动模块采用线性音圈电机（LVCM）驱动，通过改进传统音圈电机的结构形式，克服了重力方向驱动时容易产生高频率的振动、重复精度差等非线性问题，实现无摩擦的竖直方向运动．分析了各模块的驱动原理、性能和负载特性，并通过显微操作自动对焦实验验证了所开发的混合驱动式微小型机器人的有效性和其应用的可行性．

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关键词 ：微小型机器人, 混合驱动, 显微操作, 微移动机器人, 音圈电机

Abstract：

A hybrid-drive miniature-robot for micromanipulation is proposed. The robot consists of a planar mobile module and a vertical micro-motion module. Based on the principle of inchworm peristalsis, the planar mobile module driven by stacked piezoelectric ceramics may move like a mobile robot on a magnetic plane through cooperation of two electromagnetic nuts, such as moving forward or backward, turning left or right, and rotating with zero radius on a surface. The vertical inching module is driven by a linear voice coil motor (LVCM). With an improved structure different from those of traditional VCMs, the proposed LVCM gets rid of the nonlinear problems such as high frequency vibration when driven in the gravity direction and low precision with traditional VCMs, and hence achieves frictionless vertical motion. The driving principles, performance and payload characteristics of the modules are analyzed, and an experimental application in automatic focusing for micromanipulation is carried out to verify the effectiveness and application feasibility of the presented hybrid-drive miniature-robot system.

Key words： miniature-robot hybrid-drive micromanipulation micro-mobile robot voice coil motor (VCM)

收稿日期: 2012-04-20 录用日期: 2012-08-20

TP24

基金资助:

广东省国际合作计划资助项目（2009B050700018）；广东省教育厅高校国际科技合作创新平台资助项目（GJHZ1002）；机器人技术与系统国家重点实验室开放基金资助项目（SKLRS-2010-MS_16）

通讯作者: 张勤 E-mail: zhangqin@scut.edu.cn

作者简介: 张勤（1964 -），女，博士，副教授．研究领域：机器人及其应用．
杜启亮（1980 -），男，博士，副研究员．研究领域：视觉控制．
吴志斌（1989 -），男，硕士生．研究领域：微小机器人．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2012.00737 或 https://robot.sia.cn/CN/Y2012/V34/I6/737

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