液滴机械手的数值仿真与试验研究

Simulation and experiments of micro-manipulator based on liquid-drop

为分析液滴机械手的控制机理,建立液滴机械手的流体动力学仿真模型,仿真分析液滴机械手的控制机理,研究机械手端面形成液滴的形态跟随机械手端面形状的变化关系,讨论影响液滴机械手性能的因素,并通过试验验证仿真模型的正确性和提出方法的可行性.数值仿真和试验结果表明:通过控制各钨丝棒的上下移动量,可以改变液体和各钨丝棒的接触壁面,使机械手端面形成液滴的形态随之改变;基于表面张力吸附在液滴上的微小部件的姿态将随着液滴形态的改变而变化,从而可以实现对于微小部件姿态的控制.适当调整机械手的参数,如钨丝棒的数目、尺寸、各钨丝棒的移动量,以及改变液滴的性质等,可以满足微装配过程中各种操作目标的要求.

Numerical fluid dynamics model of a liquid-drop micro-manipulator was built to investigate its control mechanism. Computational simulation was conducted to analyze the relationship between the shape of the liquid-drop adhered to the end of the micro-manipulator and the end shape of the micro-manipulator. The factors affecting the performance of the micro-manipulator were discussed. Experiments were carried out to verify the correctness of numerical simulation model and feasibility of the micro-manipulation method as well as the implementation of the micro-manipulator. Both the experiment results and simulation results indicate that this micro-manipulator can adjust the shape of liquid drop sticking to its end by changing the boundary surface between the liquid and needles with different combinations of six tungsten needles motion. The orientation of a tiny object attached to the liquid-drop by surface tension force can be adjusted subsequently as it alters with the shape of liquid drop. The liquid-drop micro-manipulator can be used in operating different targets in micro devices assembly by changing the parameters of the micro-manipulator, such as the size, number or displacement of the tungsten needles, as well as liquid properties,