Design and optimization of large range 2-DOF micro-positioning clamping system

doi:10.3785/j.issn.1008-973X.2021.07.002

Journal of ZheJiang University (Engineering Science)

2021, Vol. 55

Issue (7): 1234-1244 DOI: 10.3785/j.issn.1008-973X.2021.07.002

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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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

Received: 20 July 2020 Published: 05 July 2021

CLC:

TH 122

Fund: 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）

Corresponding Authors: Kun WANG E-mail: 2729423602@qq.com;wangkun0808@126.com

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Cite this article:

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.

URL:

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

大行程两自由度微定位夹持系统的设计与优化

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

Fig.1 2T1R type compliant motion pair

Fig.2 Structure diagram of 2-DOF micro-positioning platform

Fig.3 Structure diagram of limb one for platform

Fig.4 Structure diagram of micro-gripper

Fig.5 Structure diagram of compliant end

Fig.6 Structure diagram of micro-positioning clamping system

Fig.7 Schematic diagram of limb one for platform

Fig.8 Schematic diagram of platform driving along x axis direction

Fig.9 Force analysis diagram of passive pair in limb one

Fig.10 Stress analysis diagram of medium slender rods e₂ in limb one

Fig.11 Schematic diagram of one-sided micro-gripper

Fig.12 Force analysis diagram of bridge mechanism

Tab.1 Structural parameters of micro-positioning clamping system

Tab.2 Static and dynamic performance of micro-positioning clamping system before and after optimization

Fig.13 Finite element simulation of static performance for micro-positioning platform in x axis direction

Fig.14 Static performance verification for micro-positioning platform in x axis direction

Fig.15 Stress fringe of micro-positioning platform

Fig.16 Simulation of input and output coupling displacement for micro-positioning platform

Fig.17 Finite element simulation of static performance for micro-gripper

Fig.18 Static performance verification of micro-gripper

Fig.19 First three modal shapes of micro-gripper

Fig.20 First four modal shapes of micro-positioning platform

Fig.21 Reachable working space for micro-gripper


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