摘要
介绍了一个基于压电陶瓷驱动的多节蛇型游动腹腔手术微型机器人 ,其特点是响应速度快 ,运动精度高 ,作用力与动作范围大 ,每一节均可实现两个自由度方向上± 6 0°范围内迅捷而灵活的动作。对设计中的两个关键问题进行了叙述 :压电陶瓷微位移驱动器的设计及移动机制 ;特殊的机器人关节设计 。
The authors introduce a micro snake like robot system for celiac operation driven by the piezoelectric element based mini-displacement driver, which features small size, high precision displacement, prompt response and adequate output force. Every segment of the robot can rotate on 2 freedom direction in a range of ±60° freely and rapidly. Two essential questions in designing the system i.e., the structure and moving mechanism of the piezoelectric element based mini-displacement driver; the structure of the special robot joint, are specified and discussed. Finally, the system simulation on computer is given.
出处
《光学精密工程》
EI
CAS
CSCD
2001年第6期535-538,共4页
Optics and Precision Engineering
基金
国家自然科学基金资助项目 (60 0 85 0 0 3 )
关键词
压电陶瓷
微型机器人
腹腔手术
piezoelectric elements
micro robots
celiac operation
