基于振动控制的微小物体释放操作方法与实验研究

摘要

针对微夹持器在夹持微小物体过程中的黏着问题,提出了一种基于压电振动控制的释放操作方法.应用弹性黏着理论证明了可利用压电振动效应产生的惯性力克服微夹持器与微小物体之间的黏着力,说明了该释放操作方法的可行性.采用实验方法建立反映压电微夹持器振动特性的动态模型,基于该模型得出稳定释放微小物体时驱动器输入电压幅值和频率应满足的条件.以一种微夹持器为对象搭建实验平台进行微小物体的释放实验,结果表明:所提出的释放操作方法是可行的;同时微小物体的尺寸越小、释放越困难,需要越大的惯性力克服其受到的黏着力.%A release operation method based on piezoelectric vibration control is proposed to solve the adhesion problem of micro gripper in the process of clamping tiny objects.It is proved by the theory of elastic adhesion that the inertia force caused by the piezoelectric vibration effect can be used to overcome the adhesion between the micro gripper and small object.And it is illustrated that the proposed method is feasible.A dynamic model for illustrating the vibration characteristics of the piezoelectric micro-gripper is established by using the experimental method.The conditions on the amplitude and frequency of input voltage of the actuator during the stable release of the micro objects are obtained based on the proposed model.An experimental platform with a micro gripper is built in order to carry on the experiments on the release of small objects.The experimental results show that the proposed method is feasible,and the smaller the sizes of the tiny objects are,more difficult the release is.The greater inertia force is needed to overcome the adhesion force.