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浙江大学学报(工学版)
浙江大学学报(工学版)  2021, Vol. 55 Issue (7): 1234-1244    DOI: 10.3785/j.issn.1008-973X.2021.07.002
机械工程     
大行程两自由度微定位夹持系统的设计与优化
林苗1,2(),居勇健1,2,孟刚1,2,王琨1,2,*(),曹毅1,2
1. 江南大学 机械工程学院，江苏 无锡 214122
2. 江南大学 江苏省食品先进制造装备技术重点实验室，江苏 无锡 214122
Design and optimization of large range 2-DOF micro-positioning clamping system
Miao LIN1,2(),Yong-jian JU1,2,Gang MENG1,2,Kun WANG1,2,*(),Yi CAO1,2
1. School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China
2. Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Jiangnan University, Wuxi 214122, China
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摘要：

为了实现微操作系统中微夹持器的精密定位，增加其可达定位空间，提出大行程两自由度微定位夹持系统. 基于2移1转(2T1R)型柔性运动副，设计两自由度微定位平台，并将其与微夹持器相结合，设计微定位夹持系统的结构；采用简化的线弹性梁模型建立微定位平台力?位移关系、丢失运动和固有频率的理论模型，并采用欧拉?伯努利梁模型与能量守恒定律建立微夹持器力?位移关系、位移放大倍率和固有频率的理论模型；以提高微定位夹持系统的静、动态性能为目标进行参数优化；通过有限元仿真验证理论模型的正确性，并给出微夹持器的可达定位空间. 结果表明，微定位夹持系统设计具备有效性与可行性.
关键词： 微操作系统;  柔顺机构;  定位空间;  参数优化;  有限元仿真    
Abstract:

A new 2-DOF micro-positioning clamping system with large range was proposed in order to realize the precise positioning and increase the reachable positioning space of the micro-gripper in the micro-operating system. Firstly, a 2-DOF micro-positioning platform was designed based on the 2 translation and 1 rotation (2T1R) type compliant motion pair, and the structure of micro-positioning clamping system was designed by combining it with a micro-gripper. Secondly, the theoretical models of force-displacement relationship, lost motion and natural frequency of micro-positioning platform were deduced by the simplified linear elastic beam model, and the theoretical models of force-displacement relationship, displacement amplification ratio and natural frequency of micro-gripper were deduced by the Euler-Bernoulli beam model and the law of conservation of energy. Then, the parameters of the micro-positioning clamping system were optimized for the improvements of its static and dynamic performance. Finally, the correctness of the theoretical model was verified by finite element simulation, and the reachable positioning space of the micro-gripper was given. Results show that the design of micro-positioning clamping system is effective and feasible.
Key words: micro-operating system    compliant mechanism    positioning space    parameter optimization    finite element simulation
收稿日期: 2020-07-20 出版日期: 2021-07-05
CLC:  TH 122  
基金资助: 高等学校学科创新引智计划资助项目（B18027）；江苏省“六大人才高峰”计划资助项目（ZBZZ-012）；江苏省高校优秀科技创新团队基金资助项目（2019SJK07）；江苏省研究生科研与实践创新计划资助项目（JSCX20_0760）；江南大学研究生科研与实践创新计划资助项目（JNSJ19_005）
通讯作者: 王琨     E-mail: 2729423602@qq.com;wangkun0808@126.com
作者简介: 林苗（1997—），男，硕士生，从事柔顺机构学研究. orcid.org/0000-0001-7660-4431. E-mail： 2729423602@qq.com
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引用本文:

林苗,居勇健,孟刚,王琨,曹毅. 大行程两自由度微定位夹持系统的设计与优化[J]. 浙江大学学报(工学版), 2021, 55(7): 1234-1244.

Miao LIN,Yong-jian JU,Gang MENG,Kun WANG,Yi CAO. Design and optimization of large range 2-DOF micro-positioning clamping system. Journal of ZheJiang University (Engineering Science), 2021, 55(7): 1234-1244.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2021.07.002    或    https://www.zjujournals.com/eng/CN/Y2021/V55/I7/1234

图 1  2T1R型柔性运动副
图 2  大行程两自由度微定位平台结构示意图
图 3  平台支链一结构示意图
图 4  微夹持器结构示意图
图 5  柔性末端结构示意图
图 6  微定位夹持系统结构示意图
图 7  平台支链一尺寸示意图
图 8  平台沿x轴方向驱动示意图
图 9  支链一中被动副受力分析图
图 10  支链一中细长杆e2应力分析图
图 11  微夹持器单侧结构示意图
图 12  桥式机构受力分析图
参数 数值/mm 参数 数值/mm
l1 26 h1 0.4
t1 0.55 L1 1.5
l2 22.19 L2 11.78
t2 0.8 w 1.3
表 1  微定位夹持系统的结构参数
特征参数 优化前 优化后 优化率/%
fp 40.84 Hz 51.16 Hz 25.3
fg 292.81 Hz 346.27 Hz 18.3
δlost 5.16 μm 3.86 μm ?25.2
Ramp 15.22 19.61 28.8
表 2  优化前后微定位夹持系统的静、动态特性
图 13  微定位平台x轴方向的静态性能有限元仿真
图 14  微定位平台x轴方向静态性能验证
图 15  微定位平台应力云图
图 16  微定位平台输入输出耦合仿真
图 17  微夹持器的静态性能有限元仿真
图 18  微夹持器静态性能验证
图 19  微夹持器的1~3阶模态振型
图 20  微定位平台的前4阶模态振型
图 21  微夹持器的可达工作空间
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