直线超声电机驱动、多自由度微操作手的动力学行为

项目名称： 直线超声电机驱动、多自由度微操作手的动力学行为

项目编号： No.51275229

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 机械、仪表工业

项目作者： 姚志远

作者单位： 南京航空航天大学

项目金额： 80万元

中文摘要： 针对生物工程中，对定位精度高、操作空间大的生物细胞操作用的微操作手需求，旨在研究直线超声电机驱动、并联结构、4自由度的两指微操作手的运行方式和能量输送机理。探索该微操作手在分析、设计和实验中的基本问题：研究其运动方式和响应特性；分析其电能转换成振动能和摩擦传动的非线性动力学机理；建立其温度、电场和结构振动相互耦合的动力学模型；研究其抓取、翻转和穿刺生物细胞的操作机理和控制策略；研究多自由度、并联结构的设计方法；研制相应的微操作手原型；开展单细胞的抓取、翻转和穿刺的实验研究，研究细胞在操作手作用下的运动特性和力学特性。从中提炼和总结出直线超声电机驱动的、具有并联结构、有4个自由度的微操作手的设计理论和方法。研究结果有助于提高微操作手的多测度空间（几微米~1毫米）操作能力。该操作手不仅能够处理生物细胞，也能够用于微型零件的装配、微机电系统组装、微外科手术和光学工程的光纤对接。

中文关键词： 生物工程；微纳制造；超声电机；微操作手；并联结构

英文摘要： In order to meet the great demand for the micromanipulator with high positioning accuracy and operating space, which is used for biological cell manipulation in bio-engineering, this paper researches the drive and parallel structure of linear ultrasonic motor, as well as the operation mode and energy transport mechanism of two-finger micromanipulator with four degrees of freedom. The basic problems of the micromanipulator explored in the analysis, design and experimental include: the movement and response characteristics ; the nonlinear dynamics mechanism of energy conversion and friction drive; the dynamic model of the coupling of temperature, electric and structural vibration; the operating mechanism and control strategies of grasping , flipping and puncturing biological cells; the design method of parallel structure with multi - degree of freedom; the development of a micromanipulator prototype ; experimental studies on grasping , flipping , and puncturing single cells; the motion characteristics and mechanical properties of cells under the work of the micromanipulator . From all these research, the design theory and method of the micromanipulator with a parallel structure and four-degrees of freedom which is driven by linear ultrasonic motor can be extracted and summarized. The results can help to improve th

英文关键词： Biological-engineering；Micro-nano-manufacturing；Ultrasonic motor；Micro-manipulator；Parallel structure