Development And Study Of Micromanipulator With Two-Finger

Micro-System applied in automation, traffic engineering, manufacturing, medical treatment, analytical technology will influence national economy greatly. With the development of MEMS, its components are becoming increasingly tiny and integrating. And then the components for the system need higher resolution and precision. Hence, the micro-robotic and micro-assembly technology develop quickly.(1)This paper discussed the properties of piezoelectric ceramic, shape memory alloy and magenetostrictive material droved system. And experimental research and analysis of the three systems were carried out.(2)In this dissertation, position kinematics of a micromanipulator with serial-parallel structure was studied. Based on this analysis, 6 prototypes were developed. The optimal parameters of the structures were studied with condition indexes.(3)Two shape memory alloys actuated two-finger manipulators, which based on flexible joint, were developed. In addition a number of technologies of shape memory alloy acted as actuator were disscussed.(4)Magenetostrictive actuator and 2-dimension micro-displacement platform were developed.(5)Five structures of amplifier with flexible joints were developed. The design methods for flexible joint were studied also. The optimal structure parameters of flexible joint and amplifiers with flexible joint machinery were studied. The load and displacement of amplifier were calculated and simulated with ANSIS software. New modle using wire was put forward and the error of the joint was anlysed and calculated.(6)This paper analized the error of the manipulator developed and the influence of the parameters. The method of error control was intruduced.(7)Based on the analysis of the error of all kinds of flexible joints, a new structure of micro-manipulator, which only with turn joint, was suggestted.