夹钳式力反馈遥微操作系统的设计与试验

Design and Experiments of Clamp Type Force-feedback Tele-micromanipulation System

  • 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.

     

    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.

     

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