液滴微操作机械手的机理分析与实验

doi:10.13973/j.cnki.robot.2014.0430

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引用本文:
张勤, 甘裕明, 黄维军, 青山尚之. 液滴微操作机械手的机理分析与实验[J]. 机器人, 2014, 36(4): 430-435,445.DOI: 10.13973/j.cnki.robot.2014.0430. ZHANG Qin, GAN Yuming, HUANG Weijun, AOYAMA Hisayuki. Mechanism Analysis and Experiments of Liquid-drop Micromanipulator. ROBOT, 2014, 36(4): 430-435,445. DOI: 10.13973/j.cnki.robot.2014.0430.

摘要

液滴微操作机械手由1根毛细微管和环绕在其周围的6根钨丝微棒组成，注入到毛细微管内的液体，在机械手末端形成液滴．基于液滴的表面张力吸取微小物体，通过控制液桥的形态改变液桥力，可以实现对微小物体姿态变换和释放等操作．建立液滴微操作机械手工作过程的力学模型，详细讨论了液滴微操作机械手对微小物体进行拾取、姿态调整、释放的方法和物理过程，分析了微操作过程中各种微力的作用机理、作用方式、作用条件以及影响液滴微操作机械手性能的因素；并通过实验验证了分析方法的正确性．

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关键词 ：液滴, 微操作机械手, 液桥, 姿态调整, 力学模型

Abstract：

The liquid-drop micromanipulator is composed of a fine tube and six tungsten rods surrounding the tube. Liquid is injected into the tube, and then droplet will be formed at the end of micromanipulator. The liquid-drop micromanipulator can pick up tiny target with the surface tension of the droplet, adjust its orientation or release it by controlling the liquid bridge force which varies with the liquid bridge shape. Mechanical model for the working process of the liquid-drop micromanipulator is established, then the method and physical process of picking up the tiny target, adjusting its orientation and releasing it by the liquid-drop micromanipulator are discussed in detail. Furthermore, the mechanism, acting mode and conditions of all micro forces acting on the process of micro-operation are analyzed, as well as influencing factors on liquid-drop micromanipulator performance. Finally, experiments are carried out to verify the feasibility of the analysis method.

Key words： liquid-drop micromanipulator liquid bridge orientation adjustment mechanical model

收稿日期: 2013-11-13 录用日期: 2014-03-25

ZTFLH:

TP241

基金资助:

广东省自然科学基金资助项目（S2013010012143）；广东省国际合作计划资助项目（2012B050600011）

通讯作者: 黄维军，huangwj@scut.edu.cn E-mail: huangwj@scut.edu.cn

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2014.0430 或 https://robot.sia.cn/CN/Y2014/V36/I4/430

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