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利用梯度功能压电执行器设计和制作了双悬臂梁结构的微夹钳 ,用作微型机器人操作系统的操作手 .该微夹钳整体尺寸为 1 5 mm× 2 mm× 2 mm,质量为 1 2 0 mg.建立了梯度功能压电陶瓷悬臂梁的双层复合梁模型 ,从该模型和压电本构方程出发 ,分析梯度功能压电陶瓷微夹钳的操作原理 .理论推导了该悬臂梁的微位移特性 ,由微夹钳的双悬臂梁结构 ,得到微夹钳的顶端张开量 .实际测量了梯度功能压电微夹钳的顶端张开量 ,其实际值与理论推导值有较好的一致性
A micro-clamp with double-cantilever structure was designed and fabricated by a gradient function piezoelectric actuator and used as a manipulator of the micro-robot operating system.The overall dimensions of the micro-clamp are 15 mm × 2 mm × 2 mm and mass is 1 2 0 mg.Based on this model and the piezoelectric constitutive equation, the operating principle of the graded-function piezoelectric ceramic micro-clamp was established.The double-layer composite beam model with gradient-function piezoelectric ceramic cantilever beam was established.The theoretical derivation of the cantilever beam Micro-displacement characteristics of the micro-clamp by the double cantilever beam structure to obtain the amount of micro-clamp open the top of the actual measurement of the gradient-function piezoelectric micro-clamp opening the amount of the top, the actual value and the theoretical derived values ?? are in good agreement