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基于壓電作動器驅(qū)動的微操作機構(gòu)設(shè)計與運動控制
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國家自然科學(xué)基金面上項目(51975277)


Design and Motion Control of Piezo-driven Puncture Micromanipulation Mechanism
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    摘要:

    設(shè)計了一種由壓電作動器驅(qū)動的微操作機構(gòu)?;谌犴槞C構(gòu)原理設(shè)計了橋式位移放大機構(gòu),以改善壓電作動器的輸出位移。利用偽剛體法和Euler-Bernoulli柔性梁理論建立微操作機構(gòu)的靜力學(xué)模型,并通過Lagrange方法推導(dǎo)出其動力學(xué)方程,進而獲得機構(gòu)的自然頻率。借助于差分進化算法進行柔性鉸鏈幾何尺寸優(yōu)化,并與計算機有限元仿真分析進行交叉驗證。最后,實驗驗證了所提出微操作機構(gòu)能夠獲得位移放大倍數(shù)為9.8和行程為180μm;在基于觀測器PID控制下,機構(gòu)位移均方根誤差和最大位移誤差分別為0.071、0.128μm。本文提出的微操作機構(gòu)具有精度高、魯棒性強的運動效果。

    Abstract:

    A compliant piezo-driven puncture mechanism was proposed. Firstly, to amplify the output displacement of the piezoelectric actuator, a bridge-type displacement amplification mechanism was designed based on the principle of compliant mechanism. Considering the purpose of improving the lateral stiffness, the overall structure was then designed. By combining the pseudo-rigid-body method and the Euler-Bernoulli flexible beam theory, the static model of the proposed mechanism was established. After that, the dynamic equation was also obtained by the Lagrange method and the natural frequencies were eventually calculated. Through the differential evaluation algorithm, the geometric parameters of the flexible hinges were optimized and compared with the results obtained by the finite-element analysis method. Finally, physical experiments were conducted and validated that the proposed compliant puncture mechanism can achieve the displacement amplification ratio of 9.8, leading to a stroke of 180μm. Besides, under the action of the disturbance observer-based PID control, the proposed mechanism guaranteed good performance with the root mean square error and maximum error of 0.071μm and 0.128μm.

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馬金玉,余勝東,康升征,沈耀輝,潘亮,吳洪濤.基于壓電作動器驅(qū)動的微操作機構(gòu)設(shè)計與運動控制[J].農(nóng)業(yè)機械學(xué)報,2021,52(9):417-426. MA Jinyu, YU Shengdong, KANG Shengzheng, SHEN Yaohui, PAN Liang, WU Hongtao. Design and Motion Control of Piezo-driven Puncture Micromanipulation Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2021,52(9):417-426.

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  • 收稿日期:2020-09-29
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  • 在線發(fā)布日期: 2021-09-10
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