Qian Junnan, Li Yangmin, Zhuge Lukai
Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin 300384, China.
Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hung Hom, Hong Kong 999077, China.
Micromachines (Basel). 2020 Apr 17;11(4):423. doi: 10.3390/mi11040423.
A novel type of spatial three revolute-cylindrical-universal (3-RCU) flexible micro manipulator is designed based on flexible hinges, and analyzed by finite element analysis (FEA). The piezoelectric actuators are adopted as driving devices in this platform, a new lever amplification mechanism is designed as its micro-displacement amplification mechanism, the workspace of the platform is enlarged, and the theoretical and simulation amplification ratios of the amplification mechanism are 3.056 and 2.985, respectively. The margin of error is just 2.3%. In space, the 3-RCU platform can realize the micro movement of three degrees of freedom. Also, the platform has a high carrying capacity, less motion loss, and the transmission efficiency is higher when the platform works. The decoupling performance, stress under extreme conditions and natural frequency of the platform are simulated by ANSYS Workbench software. A series of simulation analyses show the feasibility and security of the platform. The platform has good decoupling and working performance. The simulation results show that the platform has high simulation stiffness and high positioning accuracy.
基于柔性铰链设计了一种新型的空间三旋转-圆柱-万向（3-RCU）柔性微操作器，并通过有限元分析（FEA）进行了分析。该平台采用压电致动器作为驱动装置，设计了一种新型杠杆放大机构作为其微位移放大机构，扩大了平台的工作空间，放大机构的理论放大比和仿真放大比分别为3.056和2.985。误差幅度仅为2.3%。在空间中，3-RCU平台可实现三个自由度的微运动。此外，该平台承载能力高、运动损失小，工作时传动效率较高。利用ANSYS Workbench软件对平台的解耦性能、极端条件下的应力和固有频率进行了仿真。一系列仿真分析表明了该平台的可行性和安全性。该平台具有良好的解耦和工作性能。仿真结果表明该平台具有较高的仿真刚度和定位精度。
