柔性机械臂用压电驱动器实现精密定位控制的研究——解析模型、作业空间和可操作性分析

REALIZING PRECISION POSITIONING FORTHE FLEXIBLE MANIPULATOR ARMSWITH PIEZOELECTRIC ACTUATORS

本文提出了利用柔性机械臂的柔性并通过压电驱动器实施精密定位，实现微位移和微力操作的思想．为此针对二连杆柔性机械臂建立了其微位移、微力操作的解析模型，并理论和仿真分析其可达作业空间能力及其可操作性．通过应用例子仿真研究表明方法的有效性。

Precision positioning, microdisplacement and microforce operation are realized by means of the piezoelectric actuators on the flexible manipulators.To this end, the analytical model on microdisplacement and microforce operation of a twolink flexible arm is established. Its reachable workspace and the manipulability are analysized both theoretically and simulatioally. Its effectiveness is validated through simulation. The conclusion shows that the piezoelectric actuators on the flexible manipulator is applied more than vibration suppressing.