摘要
提出一种由4组压电陶瓷驱动器驱动的微小型移动机器人系统.基于惯性冲击原理,4组压电陶瓷驱动器在不同形式锯齿波电压的驱动下,能够实现机器人2个平动运动自由度和一个旋转运动自由度.基于DDS波形发生原理,为机器人设计了由C8051F040高速单片处理器、FPGA和功率放大器所构成的机器人驱动控制系统.机器人运动性能测试试验表明,提出的微小型移动机器人统具有亚毫米级的运动速度和亚微米级的运动分辨力,可以作为微操作系统中的移动式精密定位机构.
A miniature mobile robot system driven by four piezoelectric actuators is proposed. Based on inertia impact drive principle, the robot can realizes two translational DOF and one rotational DOF by applying different saw -tooth voltages to the four piezoelectric actuators. The robot control system is designed based on direct digital frequency synthesizer （DDS）, which is consisting of C8051F040 embedded processor,FPGA and high voltage amplifiers. Robot performance testing experiments show that the proposed robot system has sub-millimeter motion speed and sub- micron motion resolution,it can be used as precision positioning platform for many micro - handling systems.
出处
《机械与电子》
2007年第11期58-61,共4页
Machinery & Electronics
关键词
微小型移动机器人
惯性冲击原理
直接数字波形合成
miniature mobile robot
inertia impact drive principle
direct digital frequency synthesizer
