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为实现微小型机器人的精密运动定位,提出一种基于粘滑运动原理的足式微小型机器人.机器人足由双压电膜驱动,本身为空间不等截面的弹性梁结构.首先建立了柔性足的有限自由度模型和机器人系统的动力学模型.然后根据粘滑驱动中的粘滞和滑移过程的不同特点,分别对粘滞过程的静力学与滑移过程的瞬态动力学进行了分析,得到了机器人运动位移、分辨力与驱动电压之间的关系,并分析了粘滞-滑移过程中摩擦力的变化以及足尖的状态切换过程.分析结果表明,在粘滞阶段,基体的静态位移与驱动电压近似呈线性关系,且随驱动电压的增高而增大;在滑移阶段,由于柔性足的振动及振动与摩擦力的耦合关系,足端的滑移距离及基体位移与驱动电压之间存在非线性关系.建立了机器人样机,对机器人的运动分辨力和位移响应进行了测试,实验数据显示,基于粘滑运动原理,机器人可以实现0.88μm的高运动分辨力.
In order to realize the precise positioning of the micro-robot, a foot-type micro-robot based on the principle of stick-slip movement is proposed. The robot is driven by a bimorph film and is a flexible beam with unequal space. Firstly, Finite-freedom model and the dynamic model of the robot system.According to the different characteristics of the viscous-slip process in the viscous-slip drive, the transient dynamics of the viscous process and the transient process of the slip process are respectively analyzed, The relationship between displacement and resolution of the robot and its driving voltage is obtained, and the change of friction and the toe switching process are analyzed.The results show that in the viscous phase, The displacement and the driving voltage are approximately linear and increase with the increase of the driving voltage. In the slip phase, due to the coupling of the vibration of the flexible foot and the vibration and the friction force, the slip distance of the foot and the displacement of the base and the driving voltage There is a nonlinear relationship between the robot prototype was established, the robot’s motion resolution and displacement response were tested, the experimental data show that based on the principle of stick-slip motion The robot can achieve 0.88μm high motion resolution.