Modeling and Analysis on Stick-slip Friction Course of Spherical Micromanipulator

China Mechanical Engineering ›› 2011, Vol. 22 ›› Issue (15): 1765-1769.

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Modeling and Analysis on Stick-slip Friction Course of Spherical Micromanipulator

Wang Pengfei;Guo Wei;Sun Lining

State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin,150001

Online:2011-08-10 Published:2011-08-24
Supported by:

National Natural Science Foundation of China（No. 50575056）;
Supported by China Postdoctoral Science Foundation（No. 20080440875）

球基微操作器黏滑摩擦过程建模与分析

王鹏飞, 郭伟, 孙立宁

哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨,150001

基金资助:
国家自然科学基金资助项目(50575056)；中国博士后科学基金资助项目(20080440875)；哈尔滨工业大学优秀青年教师培养计划资助项目(HITQNJS.2009.012)
National Natural Science Foundation of China（No. 50575056）;
Supported by China Postdoctoral Science Foundation（No. 20080440875）

Abstract

Abstract:

3-DOFs rotations of spherical micromanipulator were achieved by relative displacement and frictions between the ruby balls and the micro-ball on the top of piezoelectric tubes. The stick-slip effects existed in this friction movement. The two-mass-oscillator equivalent engineering model of the spherical micromanipulator was established under the condition of simplifying spherical higher pair joints. The stick-slip course was divided into four phases and the dynamics models of phases were set up based on equivalent engineering model and LuGre friction model. The parameter feature curves were analyzed by numerical simulation. The experiments were also done, and the validity of the analysis was further proved by the results.

Key words:

micromanipulator, spherical, stick-slip friction, dynamics modeling

摘要：

球基微操作器通过压电陶瓷管端部与微操作球之间惯性摩擦形成的相对位移实现微操作球三自由度的运动,这种摩擦运动中存在黏滑现象。在简化球面高副连接的条件下,建立了球基微操作器双质量摩擦振子等效工程模型,对球基微操作器黏滑驱动过程进行了阶段细分,基于等效工程模型及动态LuGre摩擦模型建立了黏滑摩擦过程的动力学方程。运用数值仿真方法分析了球基微操作器的参数特性曲线,进行了运动测试实验,进一步验证了分析的正确性。

关键词:

微操作器, 球基, 黏滑摩擦, 动力学建模

CLC Number:

TG516

WANG Feng-Fei, GUO Wei, SUN Li-Ning.

Modeling and Analysis on Stick-slip Friction Course of Spherical Micromanipulator

[J]. China Mechanical Engineering, 2011, 22(15): 1765-1769.

王鹏飞, 郭伟, 孙立宁.

球基微操作器黏滑摩擦过程建模与分析

[J]. 中国机械工程, 2011, 22(15): 1765-1769.

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Modeling and Analysis on Stick-slip Friction Course of Spherical Micromanipulator

球基微操作器黏滑摩擦过程建模与分析

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