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A Study on 6-Degree-of-Freedom Parallel Micromanipulator Using ICPF Actuators

采用ICPF执行器的六自由度并联微操作器研究

基本信息

批准号：
08555059
负责人：
HATTORI Motofumi
金额：
$ 4.61万
依托单位：
Kobe University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (A)
财政年份：
1996
资助国家：
日本
起止时间：
1996 至 1998
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08555059/
关键词：
high polymer gel actuator ICPF actuator parallel mechanism robot mechatoronics micromanipulation redundant drive soft manipulation

项目摘要

An ICPF actuator, a new highpolymer gel membrane actuator has advantages that large motion is generated by low voltage input in wet condition. Application to micromanipulation, in-vivo surgery, etc. are expected.The objective of this research was development of micromotion mechanisms having parallel structures as application of ICPF actuators. The following results were attained.1. Identification and modeling of viscoelastic and nonlinear properties of ICPF actuator2. Improvement of the computer model of ICPF actuator to improve accuracy of motion prediction3. Optimal design, fabrication and improvement of a mechanism with 3 degrees of freedom4. Optimal design, fabrication and improvement of a mechanism with 6 degrees of freedom5. Modeling and analysis of dynamic interference and transmission characteristics6. Analysis and control of redundant mechanisms7. Construction of a tele-micromanipulation system using stereoscopic image8. Manipulability improvement by learning control9. Experimental evaluation of micromanipulationThe result of evaluation was as follows.1.3-DOF manipulatorThe displacement was 2 mm, and the practical frequency range was up to 13 Hz. It followed well to high-speed motion commands, although stationary condition longer than 3 seconds were difficult. The developed device is appropriate for dynamic micromanipulation.2.6-DOF manipulatorThe translational and rotational displacements were as small as 0.4 mm and 2 degrees, respectively.The practical frequency range was up to 3 Hz. Improvement of the ICPF material is necessary.

ICPF驱动器是一种新型的高分子凝胶膜驱动器，具有在潮湿环境下以低电压输入产生大运动的优点。本研究的目的是开发作为ICPF驱动器应用的具有并联结构的微动机构。取得了以下结果。1. ICPF作动器粘弹性和非线性特性的辨识与建模2.改进了ICPF作动器的计算机模型，提高了运动预测的精度。3自由度机构的优化设计、制造和改进4. 6自由度机构的优化设计、制造与改进5.动态干扰和传输特性建模与分析6.冗余机构的分析与控制7.立体影像遥操作系统之建构8.通过学习控制来提高可操作性9。微操作的实验评价评价结果如下：1.三自由度操作器位移为2mm，实用频率范围为13Hz。它很好地遵循了高速运动命令，尽管超过3秒的静止状态是困难的。所研制的装置适用于动态微操作。2.6自由度操作器的平移位移和旋转位移分别为0.4 mm和2 °，实际频率范围可达3 Hz。有必要改进ICPF的材料。