Design and Operational Properties of a Manipulator for Minimeter-size Microrobot

YIN Yan-li; ZHU Bang-tai; CHEN Hai-yan; CAO Chang-jiang

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Design and Operational Properties of a Manipulator for Minimeter-size Microrobot

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- Design and Operational Properties of a Manipulator for Minimeter-size Microrobot
- Optics and Precision Engineering Vol. 9, Issue 6, Pages: 531-534(2001)
- 作者机构：
  
  1. 洛阳工学院电气系,河南洛阳,471039
  2. 上海交通大学复合材料研究所上海,200030
  3. 上海交通大学信息存储研究中心上海,200030
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242
- Received：08 October 2001，
  
  Revised：28 October 2001，
  
  Published Online：15 December 2001，
  
  Published：15 December 2001
- 稿件说明：
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尹燕丽, 朱邦太, 陈海龑, 曹长江. 毫米级微型机器人操作手的研制和操作特性[J]. 光学精密工程, 2001,(6): 531-534

YIN Yan-li, ZHU Bang-tai, CHEN Hai-yan, CAO Chang-jiang . Design and Operational Properties of a Manipulator for Minimeter-size Microrobot[J]. Editorial Office of Optics and Precision Engineering, 2001,(6): 531-534
尹燕丽, 朱邦太, 陈海龑, 曹长江. 毫米级微型机器人操作手的研制和操作特性[J]. 光学精密工程, 2001,(6): 531-534 DOI：

YIN Yan-li, ZHU Bang-tai, CHEN Hai-yan, CAO Chang-jiang . Design and Operational Properties of a Manipulator for Minimeter-size Microrobot[J]. Editorial Office of Optics and Precision Engineering, 2001,(6): 531-534 DOI：

摘要

采用单晶片型压电悬臂梁制作了一种双悬臂梁结构的微型夹持器

用作毫米级微型机器人的微操作手.该微夹持器整体尺寸为15mm×2mm×2mm

重量为100mg.在分析该悬臂梁操作原理的基础上

选用PbNi

1/3

2/3

-PbZrO

-PbTiO

三元系压电陶瓷准同型相界的配方作为悬臂梁压电驱动材料

这种压电陶瓷具有高压电常数 (d

) 和机电耦合系数 (K

).进一步研究了压电微夹持器的操作特性.结果表明:50V电场下

其最大张口距离可以达到40μm

最大夹持力为25.7×10

-3

Abstract

The piezoelectric unimorphs are used to fabricate a microgripper for the millimeter size microrobot. The size of the piezoelectric microgripper is about 15mm×2mm×2mm and the weight is about 100 mg. Based on analysis of operational principle of the piezoelectric microgripper

composition of morphotropic phase boundary of the PbNi

1/3

2/3

PbZrO

PbTiO

ternary ceramics is selected to fabricate the piezoelectric microgripper. The ternary piezoelectric ceramics have high piezoelectric modulus (d

) and electromechanical coupling factor (K

). Operational properties of the piezoelectric microgripper are investigated. Results show that the microgripper can achieve tip deflection of 40μm and gripping force of 25.7×10

-3

N when voltage of 50V is applied.

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Keywords

references

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Wang Qingming, Zhang Qiming, Xu Baomin, et al. Nonlinear piezoelectric behavior of ceramics bending mode actuators under strong electric fields[J]. J. Appl. Phy. 1999, 86(6): 3352-3360.

郑巍,徐毓娴,李庆祥.微器件装配系统体方案研究[J].光学精密工程,1998,6(4):60-64.

陈寅,颜国正,戎荣,等.电磁驱动微小型机器人控制系统的研究[J]. 光学精密工程,1998,6(4):70-74.

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