CAJ | 학술논문

研制一种夹钳式的力反馈遥微操作系统,包括夹钳式主手、由压电陶瓷驱动的微夹持器和主从式力反馈控制模块.该系统可使操作者在遥微操作中具有央持力觉临场感,避免破坏易碎的操作对象.详细介绍了夹钳式主手、从手和力反馈的设计与控制方法,并搭建试验平台进行遥微操作试验,分析了主手和从手之间的位置跟踪、力反馈和时滞特性.制作和试验结果验证了系统方案的可行性,为进一步将遥微操作应用于微装配和其他领域提供参考.
연제일충협겸식적력반궤요미조작계통,포괄협겸식주수、유압전도자구동적미협지기화주종식력반궤공제모괴.해계통가사조작자재요미조작중구유앙지력각림장감,피면파배역쇄적조작대상.상세개소료협겸식주수、종수화력반궤적설계여공제방법,병탑건시험평태진행요미조작시험,분석료주수화종수지간적위치근종、력반궤화시체특성.제작화시험결과험증료계통방안적가행성,위진일보장요미조작응용우미장배화기타영역제공삼고.
A force feedback tele-micromanipulation system is developed, which consists of a clamp master-hand, a micro-gripper driven by piezoelectric ceramic, and force-feedback control module of master-slave pattern.The system makes operators obtain the telepresence of grasping force and avoid damnifying the crisp objects in tele-micromanipulation.Design and control method of the clamp master-hand, slave-hand and force feedback are introduced in detail, the experimental platform is set up, and the tele-micromanipulation experiments are carded out.The position tracking, force feedback and time delay between master-hand and slave-hand are analyzed.The results of fabrication and experiments validate the feasibility of the system scheme, and it provides reference for tele-micromanipulation applied to micro-assembly and other fields.