【作者】 秦磊；

【导师】 孙立宁；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2007， 博士

【摘要】 随着微纳米技术的迅猛发展,研究对象不断微细化,微操作机器人成为人们探索微观世界不可缺少的重要工具。微操作器是微操作机器人系统的关键执行部件,微操作器的性能直接影响微操作机器人的运动准确度和操作能力,要求微操作器具有较高的定位精度和高度的灵活性,传统的机构设计及驱动原理是很难满足这一需求,利用黏滑现象可以产生可控的微小位移,黏滑驱动方式以其结构简单、驱动方便、高分辨率和能耗低成为微操做器中的理想驱动模式。但是对于黏滑驱动原理的理论研究还处于起步阶段,对黏滑驱动过程中的各类现象还没有系统的理论解释。如何从非线性摩擦学着手伸入分析黏滑驱动本质,如何提高黏滑驱动的性能,如何避免黏滑驱动过程中特有的回带和扰动现象等问题已经成为各国学者研究的热点。首先基于黏滑驱动机理双质量简化工程模型对黏滑机理的振动特性进行了深入研究,得出了黏滑运动由受迫振动和自激震荡合成的思想。以三自由度球基微操做器为研究对象,将球基微操作器的黏滑驱动过程划分为四个阶段,并得出了各阶段动力学方程,进行仿真和实验,验证了黏滑运动得振动合成本质。其次根据双质量摩擦振子动力学方程,采用数值分析的方法得到”黏”与“滑”的相位,从相位图出发分析了摩擦力驱动产生的黏滑运动的特征。在双质量摩擦振子模型基础上,选择带三次曲线的摩擦力模型,利用Fourier级数以及谐波平衡的方法分析系统的频率问题,确定了黏滑驱动最佳驱动频率范围。建立运动状态方程,并转化为相对速度状态量,通过对相对速度状态量的讨论建立判别粘滞与滑动状态转换过程及划分标准,为球基微操作器的优化设计、控制方法以及稳定性讨论奠定理论铺垫。利用谐波平衡法,傅立叶变换以及最优化理论对双质量摩擦振子的频率响应进行理论求解讨论。然后通过数值仿真的方式讨论系统的稳定性,并利用能量平衡的方法进一步讨论在简谐激励下稳态周期响应情况。通过对库仑摩擦模型下双质量摩擦振子稳定平衡性的讨论,提出驱动器的正压力补偿法与基于能量补偿的振动衰减法控制方法,即以稳定摩擦力驱动摩擦振子实现微操作手运动的可控性及稳定性的方法分析。建立正压力补偿法和能量补偿法的简化工程模型,得出相应的动力学方程,研究了补偿条件对系统输出的影响,仿真证明了控制方法的正确性,并对两种补偿控制方法进行比较,分别得出各自的应用范围与场合。最终搭建实验系统,设计了基于电磁铁的正压力补偿机构及以四分压电陶瓷管驱动平板的机械本体。主控模块通过多路并行压电陶瓷电源输出的高压锯齿波驱动四分压电陶瓷管,采用基于PSD的微位移测量系统测量平板的输出位移,采用基于激光测振仪的系统对机械本体的速度进行测量研究,采用基于加速度计的加速度测量系统测试振动特性,并对正压力补偿法进行了实验,结果证明了理论分析的正确性。更多还原

【Abstract】 Large-ranged micro-manipulator is still at the stage of experiment, while the successful prototypes are rarely demonstrated. The low driving force, low precision, and low stability are the most major obstacles for the real application. Namely, all those defections result from the lack of studying on the driving principles. The key approach of solving the problem is to establish a more reasonable model to analyze the factors which affect the movement. Furthermore, it becomes easier and more reliable to obtain the stability control strategy.In fact, the friction is the main factor of Stick-Slip driving principle. In this paper, starting from nonlinear vibration, the author analyzes the Stick-Slip principle based on the dynamical friction model. The research includes the phase-space of the two- masses friction model and the state transition area is then proposed; includes the system response of the model and develops the best driving frequency of the Stick-Slip principle; also includes the friction compensation method and proposes the approach of using positive compensation and energy compensation to promote the performance of the Stick-Slip driving principle and is validated by the experiment.Firstly, based on the two-masses simplified engineering model of the Stick-Slip principle, the simulation of the Stick-Slip principle vibration characteristic is completed. The composite theory of the forced vibration and the self-excitation oscillation is presented. Based on the three-D.O.F spherical micromanipulator, the procedure of the Stick-Slip driving is divided into four stages and the composite theory is verified.Then, the phase-space equations is presented in accordance with the two-masses friction oscillator dynamic equations, taking the relative velocity as the factors, to obtain the criterion of how to distinguish the stick phase and slip phase, which makes convenience for the optimization of the design, and the stability control strategy. Afterwards, the frequency response is studied as follows. The common solution is given based on the harmonic balance method, numerical method and the optimization theory; the two-masses friction oscillator model is analyzed by means of MATLAB. Combined with vibration analysis, Stick-Slip area dividing, and the frequency response, the movement stability condition is discussed. By way of the stability discussion under the Coulomb friction model, the normal force compensation method and the additive vibration control method is presented. Therefore it is by stabilizing the friction drive system that it actualizes the controllability and stability, which is simple to be realized on the micro manipulator.In the end, the electromagnet-based compensation apparatus is designed and completed. Considering the three piezoelectric ceramic tube-driven plate as the research target, and driven by the sawtooth wave output of the multi-channel parallel piezoelectric ceramic power, the plate motion characteristics are measured by the three ways of PSD, capacitance micrometer and accelerometer. From the graphing curves of the output and the comparison with the sawtooth input, ultimately, the validity of the theoretical analysis is proved.更多还原