夹钳式力反馈遥微操作系统的设计与试验

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韩江义, 游有鹏, 王化明, 朱剑英. 夹钳式力反馈遥微操作系统的设计与试验[J]. 机器人, 2010, 32(2): 184-189.. HAN Jiangyi, YOU Youpeng, WANG Huaming, ZHU Jianying. Design and Experiments of Clamp Type Force-feedback Tele-micromanipulation System. ROBOT, 2010, 32(2): 184-189..

摘要研制一种夹钳式的力反馈遥微操作系统，包括夹钳式主手、由压电陶瓷驱动的微夹持器和主从式力反馈控制模块．该系统可使操作者在遥微操作中具有夹持力觉临场感，避免破坏易碎的操作对象．详细介绍了夹钳式主手、从手和力反馈的设计与控制方法，并搭建试验平台进行遥微操作试验，分析了主手和从手之间的位置跟踪、力反馈和时滞特性．制作和试验结果验证了系统方案的可行性，为进一步将遥微操作应用于微装配和其他领域提供参考．

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关键词 ：遥微操作, 力反馈, 临场感

Abstract：A force feedback tele-micromanipulation system is developed,which consists of a clamp master-hand, a micro- gripper driven by piezoelectric ceramic, and force-feedback control module of master-slave pattern. The system makes operators obtain the telepresence of grasping force and avoid damnifying the crisp objects in tele-micromanipulation. Design and control method of the clamp master-hand, slave-hand and force feedback are introduced in detail, the experimental platform is set up, and the tele-micromanipulation experiments are carried out. The position tracking, force feedback and time delay between master-hand and slave-hand are analyzed. The results of fabrication and experiments validate the feasibility of the system scheme, and it provides reference for tele-micromanipulation applied to micro-assembly and other fields.

Key words： tele-micromanipulation force feedback telepresence

收稿日期: 2009-05-04 录用日期: 2009-09-23

ZTFLH:

TP241.3

基金资助:国家自然科学基金资助项目（50975144）；江苏省自然科学基金资助项目（BK2008395）

通讯作者: 韩江义 E-mail: hjy0306@163.com,youypeng@163.com

作者简介: 韩江义（1974- ），男，博士生．研究领域：微机电系统．
游有鹏（1960– ），男，教授，博士生导师．研究领域：机械电子工程，微机电系统．
王化明（1973– ），男，副教授，硕士生导师．研究领域：机械电子工程，微机电系统．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I2/184

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