摘要
设计了一种可实现高精度微操作的平面二自由度微型机器人,为满足高精度、无间隙、无摩擦、响应快的要求,该机器人采用柔性铰链来实现转动副的功能,驱动元件为V型结构微热执行器。运用Ansys软件对系统进行了热-电耦合分析,结果表明输出位移与两侧执行器的电压差成较好的线性关系,为轨迹设计与综合提供了便利。
A two-dof planar micro-robot is designed,, which can perform high precision microoperation. Flexure hinge is used as revolute pair to meet the demand of high precision, non- clearance, non-friction and fast response. The system is driven by two V-style thermal micro-actuators. Coupling analysis of the micro-robot is carded on in ANSYS, and the result demonstrates that the output displacement has a linear relation to the voltage difference. Therefore the design and synthesis of the micro-robot＇s track can be easily performed.
出处
《机械》
2007年第12期69-70,80,共3页
Machinery
关键词
微型机器人
柔性铰链
热执行器
耦合分析
micro-robot
flexure hinge
thermal actuator
coupling analysis
