基于黏滑驱动的球基微操作器的频响分析

Frequency response analysis of a stick-slip driven spherical micromanipulator

在简化球面高副连接的条件下,建立了球基微操作器双质量摩擦振子简化工程模型。采用Fourier级数以及谐波平衡的方法分析了带有非线性环节的双质量摩擦振子的频响特性,同时利用MATLAB仿真给出数值解。开展了运动测试实验,进一步验证了分析的正确性。仿真与实验结果表明,基于黏滑驱动机理的球基微操作器在中低频段有较稳定的驱动性能,驱动频率应选中低频。此研究结果为微操作器的控制提供了参考和依据。

A two-mass-oscillator simplified engineering model for spherical micromanipulators was established under the condition of simplifying spherical higher pair joints. The frequency response features of the two-mass-oscillator with nonlinear elements were analyzed based on the Fourier series and harmonic balance method. The solution was demonstrated by the MATLAB simulation. The experiment was also done, and the validity of the analysis was further proved by the results. The simulation and experiment results proved that the spherical micromanipulator based on the stick-slip principle should be driven on the range of intermediate or low frequency, and the conclusion could be available for reference to mieromanipulator control.