Design, development and analysis of a haptic-enabled modular flexure-based manipulator
Design, development and analysis of a haptic-enabled modular flexure-based manipulator
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DOI：
10.1016/j.mechatronics.2016.10.004
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发表时间：
2016-12-01
期刊：
影响因子：
3.3
通讯作者：
Fatikow, Sergej
中科院分区：
文献类型：
--
作者：
Pinskier, Joshua;Shirinzadeh, Bijan;Fatikow, Sergej
许多微技术应用的发展需要灵活的新型操作工具来执行微操作任务。研究了模块化压电驱动平移柔性机构，为定制微机械臂的构建奠定了基础。该设计允许单个单自由度（DOF）平移模块串行耦合以形成具有多个DOF的机械手。当产生的系统通过远程操作触觉控制方案进行控制时，它使人类操作员能够直观地执行广泛的微操作任务。本文介绍了模块化系统的机械设计和触觉控制体系结构。通过计算分析验证了设计方法，并对平面二自由度机械臂进行了实验研究，验证了模块化概念。利用二自由度系统，演示了触觉控制方案可以准确跟踪用户运动，并指导任务执行。(C) 2016 Elsevier Ltd.版权所有。
The development of many applications of microtechnology requires flexible new manipulation tools to perform micromanipulation tasks. A modular piezo-actuated translational flexure-based mechanism is investigated as a basis for the construction of bespoke micromanipulators. The design allows individual single degree of freedom (DOF) translational modules to be serially coupled to form manipulators with multiple DOFs. When the resulting system is controlled through a teleoperated haptic control scheme, it enables a human operator to intuitively perform a broad range of micromanipulation tasks. The mechanical design of the modular system and the haptic control architecture is presented in this paper. Computational analysis is conducted to verify the design methodology, and a planar 2-DOF manipulator experimentally studied to validate the modular concept. Utilizing the 2-DOF system, the haptic control scheme is demonstrated to accurately track user motions, and guide task performance. (C) 2016 Elsevier Ltd. All rights reserved.