The Actuation Mechanism of 3D Printed Flexure-Based Robotic Microtweezers
The Actuation Mechanism of 3D Printed Flexure-Based Robotic Microtweezers
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DOI：
10.3390/mi10070470
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发表时间：
2019-07-01
期刊：
影响因子：
3.4
通讯作者：
Hoshino, Kazunori
中科院分区：
文献类型：
--
作者：
Almeida, Alexander;Andrews, George;Hoshino, Kazunori
介绍了一种以尼龙单片为主体的机器人微型镊子三维柔性打印驱动机构的设计和建模。我们的设计旨在填补两类广泛使用的仪器之间的样本操作空白：纳米级和宏观级机器人操作器。关键部件是独特设计的凸轮挠曲系统，该系统将压电双晶片执行器的弯曲线性转换为角位移。3D打印使制造具有特别计算的曲线的凸轮成为可能，否则使用传统的铣削技术将是昂贵的。我们首先通过研究几组简单的悬臂来表征3D打印尼龙，这些悬臂提供了可以用于进一步设计的基本特征。基于得到的材料数据进行的有限元分析与实验数据吻合较好。钳子的角位移范围为0°~10°，与压电驱动器的挠度(0~1.74 mm)呈线性关系，线性误差为0.1°。有无工作镊尖的系统共振频率分别为101赫兹和127赫兹。我们的设计为微/介观尺度(0.1-1 mm)的样品提供了一种简单、低成本的多功能机械手系统。
We report on the design and the modeling of a three-dimensional (3D) printed flexure-based actuation mechanism for robotic microtweezers, the main body of which is a single piece of nylon. Our design aims to fill a void in sample manipulation between two classes of widely used instruments: nano-scale and macro-scale robotic manipulators. The key component is a uniquely designed cam flexure system, which linearly translates the bending of a piezoelectric bimorph actuator into angular displacement. The 3D printing made it possible to realize the fabrication of the cam with a specifically calculated curve, which would otherwise be costly using conventional milling techniques. We first characterized 3D printed nylon by studying sets of simple cantilevers, which provided fundamental characteristics that could be used for further designs. The finite element method analysis based on the obtained material data matched well with the experimental data. The tweezers showed angular displacement from 0 degrees to 10 degrees linearly to the deflection of the piezo actuator (0-1.74 mm) with the linearity error of 0.1 degrees. Resonant frequency of the system with/without working tweezer tips was discovered as 101 Hz and 127 Hz, respectively. Our design provides simple and low-cost construction of a versatile manipulator system for samples in the micro/meso-scale (0.1-1 mm).