本文關(guān)鍵詞：壓電式微夾持器設(shè)計(jì)、建模與實(shí)驗(yàn)　出處：《江西理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 微夾持器 壓電陶瓷驅(qū)動(dòng)器 力傳感 釋放操作 夾持平穩(wěn)性

【摘要】：微夾持器廣泛應(yīng)用于生物工程、醫(yī)療科學(xué)、微機(jī)電系統(tǒng)和航空航天等前沿領(lǐng)域,為了實(shí)現(xiàn)夾持不規(guī)則形狀的微小物體、避免對(duì)其造成損傷和實(shí)現(xiàn)穩(wěn)定釋放,對(duì)微夾持器進(jìn)行設(shè)計(jì)、建模和釋放操作具有重要的理論和實(shí)際意義。本文采用實(shí)驗(yàn)設(shè)計(jì)的方法設(shè)計(jì)了兩種微夾持器,并對(duì)其進(jìn)行了性能優(yōu)化和釋放操作,主要內(nèi)容如下:采用杠桿原理設(shè)計(jì)了一種新型的平面微夾持器,為了綜合平衡微夾持器的張合量、夾持力靈敏度與快速響應(yīng),提出一種基于Kriging模型的性能優(yōu)化方法。采用有限元軟件ANSYS建立夾持器的參數(shù)化有限元模型,基于該模型得到對(duì)應(yīng)不同結(jié)構(gòu)參數(shù)的各性能指標(biāo)值,即放大倍數(shù)、固有頻率、輸出剛度和最大應(yīng)力。采用拉丁超立方抽樣方法確定試驗(yàn)點(diǎn),采用ANSYS計(jì)算各試驗(yàn)點(diǎn)對(duì)應(yīng)的響應(yīng)值。根據(jù)試驗(yàn)點(diǎn)進(jìn)行相關(guān)性分析以確定對(duì)夾持器性能影響較大的結(jié)構(gòu)參數(shù),并將其作為優(yōu)化設(shè)計(jì)變量。根據(jù)試驗(yàn)樣本點(diǎn)采用Kriging理論建立能反映微夾持器性能指標(biāo)與設(shè)計(jì)變量之間關(guān)系的非線性模型,為微夾持器的多目標(biāo)優(yōu)化提供精確的理論模型。建立以?shī)A持器的放大倍數(shù)、固有頻率和輸出剛度為目標(biāo),強(qiáng)度為約束的多目標(biāo)優(yōu)化模型,采用多目標(biāo)遺傳算法對(duì)其進(jìn)行全局尋優(yōu)得到3目標(biāo)Pareto最優(yōu)解集,對(duì)3個(gè)性能指標(biāo)進(jìn)行權(quán)衡以從Pareto解集中選取最優(yōu)設(shè)計(jì)方案。比較分析優(yōu)化前與優(yōu)化后的微夾持器各性能指標(biāo)可知,放大倍數(shù)增大了7.4%,固有頻率增大了16.46%,輸出剛度增大了9.84%,最大應(yīng)力減小了5.75%,說(shuō)明所提出的性能優(yōu)化方法的有效性。為了避免平面微夾持器在夾持微小對(duì)象過(guò)程中對(duì)其造成損傷或脫落,要求對(duì)夾持力進(jìn)行預(yù)測(cè)和控制。提出了一種將電阻式應(yīng)變片集成于微夾持器結(jié)構(gòu)實(shí)現(xiàn)結(jié)構(gòu)-傳感一體化設(shè)計(jì)。以?shī)A持力產(chǎn)生的應(yīng)變最大、壓電陶瓷驅(qū)動(dòng)力產(chǎn)生的應(yīng)變最小為目標(biāo)對(duì)傳感單元的尺寸參數(shù)進(jìn)行優(yōu)化設(shè)計(jì)。采用最小二乘方法分別標(biāo)定壓電驅(qū)動(dòng)器輸入電壓、夾持力與力傳感單元應(yīng)變之間的關(guān)系。結(jié)果表明,描述驅(qū)動(dòng)電壓與傳感單元應(yīng)變的關(guān)系為3階多項(xiàng)式,力傳感單元應(yīng)變與夾持力之間的關(guān)系為線性關(guān)系�？傻贸鰥A持力與驅(qū)動(dòng)電壓之間的關(guān)系為3階多項(xiàng)式,利用該關(guān)系式可實(shí)現(xiàn)預(yù)測(cè)和控制夾持力。所提出的設(shè)計(jì)思路和標(biāo)定方法為微夾持器設(shè)計(jì)提供一種新思路。針對(duì)平面微夾持器在夾持微小物體過(guò)程中的粘著問(wèn)題,提出了一種基于壓電振動(dòng)控制的釋放操作方法�；趶椥哉持碚撟C明了利用壓電振動(dòng)產(chǎn)生的慣性力可克服微夾持器與微小物體之間的粘著力,說(shuō)明了該釋放操作方法的可行性。采用實(shí)驗(yàn)方法建立反映壓電微夾持器振動(dòng)特性的動(dòng)態(tài)模型,基于該模型得出穩(wěn)定釋放微小物體時(shí)驅(qū)動(dòng)器輸入電壓幅值和頻率應(yīng)滿足的條件。以一種微夾持器為對(duì)象搭建實(shí)驗(yàn)平臺(tái)進(jìn)行微小物體的釋放實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果表明所提出的釋放操作方法的可行性。同時(shí),實(shí)驗(yàn)結(jié)果表明微小物體的尺寸越小釋放越困難,需要越大的慣性力克服其受到的粘著力。針對(duì)平面微夾持器夾持微小物體時(shí)為2點(diǎn)接觸,不能適應(yīng)不規(guī)則形狀微小物體的夾持操作,設(shè)計(jì)了一種能夾持不同大小和形狀不規(guī)則物體的新型空間微夾持器,由兩個(gè)相互垂直放置的夾持支鏈形成空間4點(diǎn)接觸式夾持。夾持支鏈采用二級(jí)杠桿原理設(shè)計(jì),支鏈設(shè)計(jì)下凹槽和上凹槽結(jié)構(gòu),將上凹槽與下凹槽相互嵌套實(shí)現(xiàn)采用一個(gè)驅(qū)動(dòng)器同時(shí)驅(qū)動(dòng)兩個(gè)支鏈。為了提高該微夾持器的夾持平穩(wěn)性和張合量,提出了一種基于支持向量機(jī)建立其性能指標(biāo)與結(jié)構(gòu)參數(shù)之間關(guān)系的回歸模型,基于該模型對(duì)性能指標(biāo)進(jìn)行優(yōu)化。采用所設(shè)計(jì)的空間微夾持器分別對(duì)小螺釘和小電阻進(jìn)行夾持操作實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果表明微夾持器能穩(wěn)定地夾持它們,說(shuō)明了微夾持器設(shè)計(jì)和優(yōu)化的有效性。
[Abstract]:The micro gripper is widely used in biological engineering, medical science, Frontiers of MEMS and aerospace etc., in order to realize the micro object clamping of irregular shape, avoid damage and achieve stability on its release, the micro gripper is designed, it has important theoretical and practical significance of modeling and release operations. This paper designed two kinds of micro gripper using experimental design method, and the performance optimization and release operation, the main contents are as follows: using the lever principle to design a new type of planar micro gripper, in order to balance the micro gripper with a clamping force, sensitivity and rapid response and put forward a performance optimization method based on Kriging model. The parameterized finite element model established by finite element software ANSYS holder, the performance index of the model corresponding to different structure parameters based on the value of the magnification, The natural frequency, output stiffness and maximum stress. By using Latin hypercube sampling method to determine the test point, response is calculated by ANSYS corresponding to the experimental values. The correlation analysis was performed according to the test point to determine the gripper performance effects of structure parameters of the larger, and as optimization design variables. According to the test samples. Using Kriging theory to establish the nonlinear model can reflect the Microgripping relationship between the performance index and the design variables, provide an accurate theoretical model of multi-objective optimization for micro gripper is established. The magnification to grip, natural frequency and output stiffness as the goal, the strength for the multi-objective optimization model with constraints. The multi-objective genetic algorithm for global optimization of the 3 target Pareto optimal solution set, on the 3 performance indicators to weigh on choosing the optimal design scheme from Pareto. A comparative analysis of the advantages and optimization After the micro gripper and each performance index of the magnification increases by 7.4%, the natural frequency is increased by 16.46%, the output stiffness increases by 9.84%, the maximum stress is reduced by 5.75%, to prove the effectiveness of the proposed optimization method. In order to avoid the planar micro gripper holding small objects in the process of clamping the damage or loss, demand forecast and control on holding force is presented. The gauge is integrated in the microgripper structure of sensor integrated design. Produced by clamping force strain is the largest, the pressure generated by PZT strain is the minimum target size parameter of sensing unit the optimization design of piezoelectric actuator input voltage calibration respectively using the least squares method, the relationship between the force and the clamping force sensing element strain. The results showed that describe the relationship between the driving voltage and the strain sensing unit for 3 order number Type, force sensing unit and the clamping force between the strain relationship is linear. The relationship between clamping force and driving voltage between the 3 order polynomial, the formula can forecast and control the clamping force. The proposed calibration method and design ideas for the micro gripper design provides a new ideas. For the planar micro gripper with adhesion problem of micro object in the process of clamping, proposes a release operation method of piezoelectric vibration control based on elastic adhesion theory are proved by the inertial force from piezoelectric vibration can be overcome between the clamping device and micro micro object based on adhesion to illustrate the feasibility. The release operation method. Established dynamic model of piezoelectric micro gripper vibration characteristics by means of experimental method, the model obtains stable driver input amplitude and frequency of voltage conditions. Based on the release of small objects to A micro gripper experimental platform is constructed for the object of micro object release experiment. The experimental results show that the proposed method is feasible to release the operation. At the same time, the experimental results show that the smaller the size of the release of micro object is more difficult, the more need to overcome the inertia by adhesion. In plane micro gripper holding small objects for 2 point contact, can not adapt to the irregular shape of micro object holding operation, the design of a new type of space can hold different sizes and shapes of objects with irregular micro gripper, composed of two mutually vertical clamping chain forming space 4 point contact type clamping clip. A branched chain using two lever principle design, design of groove and the groove on the branched structure, the groove and the lower groove are nested using a drive and drive two branched chain. In order to improve the micro gripper clamp steady And a content, proposed a regression model to establish the relationship between the performance and the structure parameters of support vector machine based on the performance of the optimization based on the model. The design of the space of small screws and small resistance gripping operation experiments holder micro clamp, experimental results show that the micro gripper device can steadily clamp them, to demonstrate the effectiveness of the micro gripper device design and optimization.

【學(xué)位授予單位】：江西理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH-39

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