首页|业界动态|文献园地|科技期刊|文献翻译|科技论坛|会员中心|网站功能

English 旧版网站 邮箱

中检索

  首页《机械工程学报》2008年12期目录→并联微操作机器人技术及应用进展

并联微操作机器人技术及应用进展


贠 远  徐青松  李杨民
(澳门大学科技学院机电工程系 澳门)


摘要:微/纳米并联微操作机器人技术是综合微/纳米技术和并联机器人技术迅速发展而形成的新研究方向,涉及精密机械、机器人、计算机、自动控制、精密测量等多学科领域,广泛应用于生物医学领域中的细胞与基因操作、精细外科手术、微电子装配、微细加工、光纤对接等领域。通过对当前国内外并联微操作机器人的研究状况、产品化应用以及实际应用等方面的发展态势进行详细地回顾,总结微/纳米级并联微操作机器人这一研究方向在工作空间、运动解耦性、承载能力、理论分析、柔性铰链设计、实时标定与测量、新材料、驱动等方面存在的问题,并提出改进意见,以期对该领域未来的创新设计以及发展研究产生一定的推动作用。
关键词:微操作 并联机器人 柔性铰链
中图分类号:TP24

DOI:10.3901/JME.2008.12.012

20071210收到初稿,20080902收到修改稿

 
浏览(下载)论文全文(PDF格式)

 

作者简介:贠远, 女,1981年出生,博士研究生。主要研究方向为并联机器人和纳米微操作。
E-mail:ya77406@umac.mo

参 考 文 献

[1] TONSHOFF H K, GRENDEL H. A systematic comparison of parallel kinematics[C]// BOER C R, MOLINARI TOSATTI L, SMITHh K S. Parallel kinematic machines: theoretical aspects and industrial requirements. Proceedings of the First European- American Forum on PKM, Aug. 31-Sep. 1, 1998, Milan, Italy. London:Springer-Verlag, 1999:295-312.
[2] GOUGH V E, WHITEHALL S G. Universal tire test machine[C]// Proceedings of the FISITA 9th International Technical Congress, May, 1962, London. UK:FISITA, 1962:117-137.
[3] STEWART D. A platform with six degrees of freedom[J]. Proceedings of the Institution of Mechanical Engineers, 1965, 180(1):371-386.

[4] HUNT K H. Kinematic geometry of mechanisms[M]. London:Oxford University Press, 1978.
[5] CLAVEL R. Device for displacing and positioning an element in space:US, WO 87/03528[P]. 1986-06-18.
[6] NEUMANN K E. Robot:US, 4732525[P]. 1988.
[7] CLAVEL R. Delta a fast robot with parallel geometry [C]//Proceedings of International Symposium on Industrial Robot, Apr. 26-28, 1988, Lausanne. Switzerland:ISIR, 1988:91-100.
[8] PIERROT F, DAUCHEZ P, FOURNIER A. Fast parallel robots[J]. Journal of Robotic Systems, 1991, 8(6):829-840.

[9] HERVE J M. Star a new concept in robotics[C]// Proceedings of 3rd International Workshop on Advances in Robotics Kinematics, Sep. 7-9, 1992, Ferrara. Italy, 1992:176-183.
[10] TSAI L W, OREGORY C W, STAMPER R. Kinematics of a novel three DOF translational platform[C]// Proceedings of the 1996 IEEE International Conference On Robotics and Automation, Apr. 22-28, 1996, Minnesota, USA. USA:IEEE, 1996:3 446-3 451.
[11] 汪劲松, 黄田. 并联机床——机床行业面临的机遇与挑战[J]. 中国机械工程, 1999, 10(10):1 103-1 107.
WANG Jinsong, HUANG Tian. Parallel machine tool——A forthcoming opportunity and challenge to the machine tool industry[J]. China Mechanical Engineering, 1999, 10(10):1 103-1 107.
[12] HARA A, SUGIMOTO K. Synthesis of parallel micro- manipulators[J]. Journal of Mechanisms Transmissions, and Automation in Design, 1989, 111:34-39.
[13] TANIGUCHI M, IKRDA M, INAGAKI A, et al. Ulta precision wafer positioning by six-axis micro-motion mechanism[J]. International Journal of Japan Society Precision Engineering, 1992, 26(1):35-40.
[14] 于靖军. 全柔性机器人机构分析及设计方法研究[D]. 北京:北京航空航天大学, 2002.
YU Jingjun. Methodology for analysis and design of fully compliant robotic mechanisms[D]. Beijing:Beihang University, 2002.
[15] TANIKAWA T, ARAI T, OJALA P. Two-finger micro hand[C]// Proceedings of the 1995 IEEE International Conference on Robotics and Automation. May 21-27, 1995, Nagoya. Japan:IEEE, 1995:1 674-1 679.
[16] KALLIO P, LIND M, ZHOU Q, et al. A 3 DOF piezohydraulic parallel micromanipulator[C]// Interna- tional Conference on Robotics and Automation, May 10-15, 1999, Leuven. Belgium:IEEE, 1998:1 823- 1 828.
[17] ZHANG W J, ZOU J, WATSON L G, et al. The constant-Jacobian method for kinematics of a three-DOF planar micro-motion stage[J]. Journal of Robotic Systems, 2002, 19(2):63-72.

[18] 张建军, 高峰, 李为民, 等. 新型6自由度并联微动机器人微运动学及其运动解耦性分析[J]. 机械设计, 2003, 20(12):22-25.
ZHANG Jianjun, GAO Feng, LI Weimin, et al. Micro- kinematics and its movement decoupling analysis of a new typed six-DOF parallel micro-moving robot[J]. Journal of Machine Design, 2003, 20(12):22-25.
[19] CULPEPPER M L, ANDERSON G. Design of a low-cost nano-manipulator which utilizes a monolithic, spatial compliant mechanism[J]. Precision Engineering. 2004, 28:469-482.

[20] CHAO Daihong, ZONG Guanghua, LIU Rong. Design of a 6-DOF compliant manipulator based on serial- parallel architecture[C]// Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Jul. 24-28, 2005, Monterey, Callifornia. USA:IEEE/ASME, 2005:765-770.
[21] LI Yangmin, XU Qingsong. A novel design and analysis of a 2-DOF compliant parallel micromanipulator for nanomanipulation[J]. IEEE Transactions on Automation Science and Engineering, IEEE Press, 2006, 3(3):247-254.
[22] LI Yangmin, XU Qingsong. Novel design of a 3-PUU spatial compliant parallel micromanipulator for nanomanipulation[C]// IEEE International Conference on Mechatronics and Automation, Jul. 29-Aug. 1, 2005, Ontario. Canada:IEEE, 2005:1 575-1 580.
[23] XU Qingsong, LI Yangmin. Kinematic analysis and optimization of a new compliant parallel micromani- pulator[J]. International Journal of Advanced Robotic Systems, ARS International, 2006, 3(4):351-358.
[24] LI Yangmin, XU Qingsong. Dynamics analysis of a modified 3-PRC compliant parallel micromanipulator [C]//The 7th IEEE International Conference on Nanot- echnology, Aug. 2-5, 2007, Hongkong Convention & Exhibition Centre, Hongkong, China. China:IEEE Nano, 2007:432-437.
[25] HESSELBACH J, RAATZ A, WREGE J, et al. Design and analysis of a macro parallel robot with flexure hinges for micro assembly tasks[C]// Proceedings of 35th International Symposium on Robotics, Mar. 23-26, 2004, Nord Villepinte:Paris. France:ISR, 2004:No.TU14-041fp.
[26] OUYANG P R. Hybrid intelligent machine systems: Design, modeling and control[D]. Canada:University of Saskatchewan, 2005.
[27] DONG Wei, SUN Lining, DU Zhijiang. Design of a precision compliant parallel positioner driven by dual piezoelectric actuators[J]. Journal of Sensors and Actuator A:Physical, 2007, 135(1):250-256.

[28] TANG X, CHEN I M. A large-displacement 3-DOF flexure parallel mechanism with decoupled kinematics structure[C]// IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 9-15, 2006, International Convention Center, Beijing. China:IEEE/RSJ (IROS), 2006:1 668-1 673.
[29] STEFAN V. Low-inertia parallel-kinematics systems for submicron alignment and handling [EB/OL]. (2008-04- 16)[2002-09-05]. http://www.parallemic.org/ Reviews/ Review012.html.
[30] OUYANG P R, TJIPTOPRODJO R C, ZHANG W J, et al. Micro-motion devices technology:The state of arts review[J]. The International Journal of Advanced Manufacturing Technology, Published online, 17 July, 2007.
[31] NEW FOCUS. Applications of the picomotor in the semiconductor Industry[R/OL]. (2008-05-05)[2007-10- 10] http://www.newfocus.com/products/documents/liter- ature/apnote6.pdf.
[32] NOLL T. Monolithic two-axis flexure-joined mirror support[C]// Proceedings 2nd International Workshop on Mechanical Engineering Design of Synchrotron Radiation Equipment and Instrumentation, Sep. 5-6, 2002, Argonne National Laboratory, Illinois. USA:MEDSI, 2002:65-73.
[33] MOON Y M, TREASE B P, KOTA S. Design of large-displacement compliant joints[J]. Journal of Mechanical Design, 2005, 127(4):788-798.

[34] HESSELBACH J, WREGE J, RAATZ A, et al. Aspects on design of high precision parallel robots[J]. Assembly Automation, 2004, 24(1):49-57.

[35] XU Qingsong, LI Yangmin. Mechanical design of compliant parallel manipulators for nano scale manipulation[C]//IEEE International Conference on Nano/Micro Engineered and Molecular Systems, Jan. 18-21, 2006, Zhuhai International Conference Center, Zhuhai, China. China:IEEE-MEMS, 2006:655-659.
[36] 孙立宁, 董为, 杜志江. 宏/微双重驱动机器人系统的研究现状与关键技术[J]. 中国机械工程, 2005, 16(1):89-93.
SUN Lining, DONG Wei, DU Zhijiang. State-of-the-art and key technologies of macro/micro dual manipulator system[J]. China Mechanical Engineering, 2005, 16(1):89-93.
[37] 欧云. 压电式发动机主动悬置的设计理论及控制方法研究[D]. 长春:吉林大学, 2003.
OU Yun. Study of design theories and control methods of engine active mount with piezoelectric actuator[D]. Changchun:Jilin University, 2003.
[38] 毕树生, 宗光华, 张体娟. 并联微操作机构的研究与应用[J]. 高技术通讯, 2001, 11(2):107-110.
BI Shusheng, ZONG Guanghua, ZHANG Tijuan. Research and application of parallel micro manipulators[J]. High Technology Letters, 2001, 11(2):107-110.
[39] 孙立宁, 董为, 杜志江. 基于大行程柔性铰链的并联机器人刚度分析[J]. 机械工程学报, 2005, 41(8):90-95.

SUN Lining, DONG Wei, DU Zhijiang. Stiffness analysis on a wide-range flexure hinge-based parallel manipulator[J]. Chinese Journal of Mechanical Engineering, 2005, 41(8):90-95.
[40] DU Shaorong, LI Yangmin. A survey on micro/nano manipulation[C]// 2nd Asia International Symposium on Mechatronics, Dec. 12-15, 2006, City University of Hongkong, Hongkong, China. China:AISM, 2006.
[41] LI Yangmin, XU Qingsong. Design and analysis of a new 3-DOF compliant parallel positioning platform for nanomanipulation[C]// 5th IEEE Conference on Nanotechnology, Jul. 11-15, 2005, Nagoya Congress Center, Nagoya. Japan:IEEE-NANO, 2005:861- 864.
[42] 杨启志, 郭宗和, 马履中, 等. 全柔性机构在并联微动机器人中的应用[J]. 机械设计与研究, 2005, 21(5):45-48.
YANG Qizhi, GUO Zonghe, MA Lvzhong, et al. Application of the fully compliant mechanism in the parallel micro-motion robots [J]. Machine Design and Research, 2005, 21(5):45-48.
[43] 江泽民, 徐德, 王麟昆, 等. 微操作机器人的研究现状与发展趋势[J]. 机器人, 2003, 25(6):554-559.
JIANG Zemin, XU De, WANG Linkun, et al. Current situation and trend of micro manipulating robot[J]. Robot, 2003, 25(6):554-559.
[44] 高峰. 机构学研究现状与发展趋势的思考[J]. 机械工程学报, 2005, 41(8):3-17.

GAO Feng. Reflection on the current status and development strategy of mechanism research[J]. Chinese Journal of Mechanical Engineering, 2005, 41(8):3-17.
[45] 王庆. 大行程柔性铰链并联机器人运动学及控制方法研究[D]. 哈尔滨:哈尔滨工业大学, 2004.
WANG Qing. Research on kinematics and control method of a wide-range flexure hinge-based parallel manipulator[D]. Harbin:Harbin Institute of Technology, 2004.

关于我们-联系我们-网站地图-广告服务-人才招聘-加盟合作-法律声明

地址: 中国北京百万庄大街22号  邮编: 100037  电话: 8610-88379907  传真: 8610-68994557
E-mail: cjme@mail.machineinfo.gov.cn  http: // www.cjmenet.com.cn
©2006 版权所有《机械工程学报》编辑部