Analysis on Simplified Engineering Model and Vibration Feature of Spherical Micromanipulator

摘要：

A spherical micromanipulator achieves rotations with 3-DOFs of the micro-ball with the relative displacements brought by the frictions between the ruby balls and the micro-ball on the top of piezoelectric tubes. The two-masses simplified engineering model of the stick-slip principle is established under the condition of simplifying spherical higher pair joints. The model of forced vibration and self-excitation oscillation on stick-slip movement is established by dividing the two-masses simplified engineering model and the composite theory of the forced vibration and self-excitation oscillation is presented. The model is demonstrated by simulations. The experiment is also done, and the validity of the model is further proved by the results. At last, the defects of simple driving are discussed, which provides reference to micromanipulator control.

关键词： Micromanipulator Spherical Stick-slip Vibration features

作者: Pengfei Wang Mantian Li Haiyan Hu Lining Sun

作者单位: tate Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin,China State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1924-1928

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）