Research On Micro-gripper Technology And Systems Design

With the object of scientific research to the small, ultra-precision of the direction of the field of development of robot to be the target of the operation is also extended to the area from the macro sub-micron, the field of micro-nano-scale. Micro-robot system is a combination of multi-disciplinary theory of high-tech cross-product of computer technology, image processing technology, automatic control theory, computer vision, precision machining in one, relying on computer image processing technology, through the automatic control is the principle of microrobot target identification, target operation and so on.The research work is funded by the National 863 Project 804 high-tech theme of the project "Intelligent target assembly of micro-mechanical studies", in the micro-robot platform system to study the structure of microgripper and control circuit design, according to the target precision assembly the actual demand, the development of a set of target micro-gripper system components, including: 1. Design and development of two different types of target micro-gripper parts (the target micro-gripper and the ball cavity micro-gripper column); 2. Design and development of two kinds of gripper controller circuit.In the thesis, the use of PVDF microgripper of the inverse piezoelectric effect to achieve micro-force sensing microgripper through PVDF output signal power to achieve the read folder access, at the same time microgripper driven by the supply voltage to the control to ensure good check parts folder. main task is to improve the microgripper structure and controller design and improvement of the circuit. Including the target micro-gripper ball real air routes, power, real control of the air path components, column the pros and cons of micro-gripper to the drive circuit, such as micro-power detection circuit.Thesis carried out at the end of the experiment micro-gripper operation, and a summary of the full text of the micro-robot, micro robot equipment and technology development microgripper looking forward were made.