A fully flexure micro/nano transmission platform(MNTP)which has five degrees of freedom is designed on the basis of bridge type amplification mechanism.According to the kinematic theory and the elastic beam theory,the...A fully flexure micro/nano transmission platform(MNTP)which has five degrees of freedom is designed on the basis of bridge type amplification mechanism.According to the kinematic theory and the elastic beam theory,the theoretical output displacement equation of the platform is derived,and then piezoelectric actuator(PZT)is calibrated.Meanwhile,a full closed-loop control strategy of the platform is established using the feedforward proportional-integral-derivative(PID)compound control algorithm based on the Preisach model.Moreover,the total transfer function of the micro positioning system is derived,and the calculation method of output signal is acquired.Finally,the theoretical output displacement is verified by finite element analysis(FEA)and positioning experiments.展开更多
微纳操作系统是精密操作、精密加工领域重要组成部分。微纳操作系统的载物平台负责放置样品和大行程搬运样品,需要大行程、高精度的定位。宏微结合的方法能弥补精密定位平台行程不足的缺点,而并联机构能实现高精度定位,因此采用3PRR(3...微纳操作系统是精密操作、精密加工领域重要组成部分。微纳操作系统的载物平台负责放置样品和大行程搬运样品,需要大行程、高精度的定位。宏微结合的方法能弥补精密定位平台行程不足的缺点,而并联机构能实现高精度定位,因此采用3PRR(3自由度,每条支链包括一个移动副(P)驱动和两个转动副(R))并联平台作为扫描电子显微镜(Scanning electron microscopy,SEM)环境下的宏微结合精密平台中的宏动部分。为了实现大行程、高精度定位,需要分析机构工作空间与奇异性分布。通过推导3PRR运动学方程,求得机构雅可比矩阵,研究雅可比矩阵特性,求得3PRR并联平台非奇异工作空间分布,把机构雅可比矩阵特性与奇异分布引入控制范畴,提出两种奇异区域规避控制策略与一种奇异位型逃逸控制策略。对机构如何规避奇异区域与进入奇异位型后如何快速逃逸提供了理论指导,仿真分析表明,提出的策略对机构精密定位与可控性提供了保障。展开更多
针对微纳卫星的测控数传需求,利用业务无线电及ISM(Industrial-Scientific-Medical,工业-科学-医疗)频段和设备,设计了适用微纳卫星的便携式测控站,包括ISM和VHF/UHF(Very High Frequency/Ultra High Frequency,甚高频/超高频)2个通道;...针对微纳卫星的测控数传需求,利用业务无线电及ISM(Industrial-Scientific-Medical,工业-科学-医疗)频段和设备,设计了适用微纳卫星的便携式测控站,包括ISM和VHF/UHF(Very High Frequency/Ultra High Frequency,甚高频/超高频)2个通道;优选了COTS(Commercial Off The Shelf,商用现货)ISM通信电台和VHF/UHF全模式电台、VHF/UHF八木天线、S频段花瓣式网状抛物面天线等部组件,3副天线共用1个伺服机构;并对ISM和VHF/UHF信道的上/下行链路电平进行估算。结果表明:该多频段多通道便携测控站的设计方案可行性好,效费比高,并已在相关微纳卫星的测控应用中得到验证。展开更多
基金Supported by the State Key Laboratory of Mechanical Transmission Independent Research Fund(SKLMT-ZZKT-2012 MS 05)
文摘A fully flexure micro/nano transmission platform(MNTP)which has five degrees of freedom is designed on the basis of bridge type amplification mechanism.According to the kinematic theory and the elastic beam theory,the theoretical output displacement equation of the platform is derived,and then piezoelectric actuator(PZT)is calibrated.Meanwhile,a full closed-loop control strategy of the platform is established using the feedforward proportional-integral-derivative(PID)compound control algorithm based on the Preisach model.Moreover,the total transfer function of the micro positioning system is derived,and the calculation method of output signal is acquired.Finally,the theoretical output displacement is verified by finite element analysis(FEA)and positioning experiments.
文摘微纳操作系统是精密操作、精密加工领域重要组成部分。微纳操作系统的载物平台负责放置样品和大行程搬运样品,需要大行程、高精度的定位。宏微结合的方法能弥补精密定位平台行程不足的缺点,而并联机构能实现高精度定位,因此采用3PRR(3自由度,每条支链包括一个移动副(P)驱动和两个转动副(R))并联平台作为扫描电子显微镜(Scanning electron microscopy,SEM)环境下的宏微结合精密平台中的宏动部分。为了实现大行程、高精度定位,需要分析机构工作空间与奇异性分布。通过推导3PRR运动学方程,求得机构雅可比矩阵,研究雅可比矩阵特性,求得3PRR并联平台非奇异工作空间分布,把机构雅可比矩阵特性与奇异分布引入控制范畴,提出两种奇异区域规避控制策略与一种奇异位型逃逸控制策略。对机构如何规避奇异区域与进入奇异位型后如何快速逃逸提供了理论指导,仿真分析表明,提出的策略对机构精密定位与可控性提供了保障。
文摘针对微纳卫星的测控数传需求,利用业务无线电及ISM(Industrial-Scientific-Medical,工业-科学-医疗)频段和设备,设计了适用微纳卫星的便携式测控站,包括ISM和VHF/UHF(Very High Frequency/Ultra High Frequency,甚高频/超高频)2个通道;优选了COTS(Commercial Off The Shelf,商用现货)ISM通信电台和VHF/UHF全模式电台、VHF/UHF八木天线、S频段花瓣式网状抛物面天线等部组件,3副天线共用1个伺服机构;并对ISM和VHF/UHF信道的上/下行链路电平进行估算。结果表明:该多频段多通道便携测控站的设计方案可行性好,效费比高,并已在相关微纳卫星的测控应用中得到验证。
