两指并联微操作手的动力学建模及仿真分析

Dynamic Modeling and Simulation Analysis of a Parallel Micromanipulator with Two Fingers

设计一种由直线超声电机驱动的两指并联微操作手,建立其刚柔耦合动力学模型,并进行仿真分析.采用分支结构建模法,将微操作手分为1个圆盘手指子系统和3个对称的运动链子系统,分别推导其动能和势能,利用拉格朗日方程对微操作手进行动力学建模.构建微操作手的刚柔耦合仿真模型,由反向和向前动力学仿真计算得到电机输入和手指操作末端的位移、速度响应参数,对于验证微操作手输入与输出之间的理论关系以及运行的可实用性均有重要的指导意义.

This paper proposes a parallel micromanipulator with two fingers driven by linear ultrasonic motors,for which a rigid-flexible coupling dynamic model is built through simulations.Based on bifurcated structure modeling method,micromanipulators are divided into a disk finger subsystem and three symmetrical kinematic?chain subsystems.Kinetic energy and potential energy are derived respectively,and dynamic modeling of the micromanipulator is established by applying the Lagrange equation.The rigid-flexible coupling dynamic simulation model for micromanipulators is constructed.Displacement,velocity response parameters of the motor input and finger end-effector are calculated through reverse and forward dynamic simulations,which have important guiding implications for verifying theoretical relationship between input and output of micromanipulators as well as practicality of operations.