球基微操作器黏滑摩擦过程建模与分析

Modeling and Analysis on Stick-slip Friction Course of Spherical Micromanipulator

球基微操作器通过压电陶瓷管端部与微操作球之间惯性摩擦形成的相对位移实现微操作球三自由度的运动,这种摩擦运动中存在黏滑现象。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等效工程模型,对球基微操作器黏滑驱动过程进行了阶段细分,基于等效工程模型及动态LuGre摩擦模型建立了黏滑摩擦过程的动力学方程。运用数值仿真方法分析了球基微操作器的参数特性曲线,进行了运动测试实验,进一步验证了分析的正确性。

3-DOFs rotations of spherical micromanipulator were achieved by relative displacement and frictions between the ruby balls and the micro-ball on the top of piezoelectric tubes.The stick-slip effects existed in this friction movement.The two-mass-oscillator equivalent engineering model of the spherical micromanipulator was established under the condition of simplifying spherical higher pair joints.The stick-slip course was divided into four phases and the dynamics models of phases were set up based on equivalent engineering model and LuGre friction model.The parameter feature curves were analyzed by numerical simulation.The experiments were also done,and the validity of the analysis was further proved by the results.