大行程两自由度微定位夹持系统的设计与优化

为了实现微操作系统中微夹持器的精密定位，增加其可达定位空间，提出大行程两自由度微定位夹持系统. 基于2移1转(2T1R)型柔性运动副，设计两自由度微定位平台，并将其与微夹持器相结合，设计微定位夹持系统的结构；采用简化的线弹性梁模型建立微定位平台力?位移关系、丢失运动和固有频率的理论模型，并采用欧拉?伯努利梁模型与能量守恒定律建立微夹持器力?位移关系、位移放大倍率和固有频率的理论模型；以提高微定位夹持系统的静、动态性能为目标进行参数优化；通过有限元仿真验证理论模型的正确性，并给出微夹持器的可达定位空间. 结果表明，微定位夹持系统设计具备有效性与可行性.

Design and optimization of large range 2-DOF micro-positioning clamping system

A new 2-DOF micro-positioning clamping system with large range was proposed in order to realize the precise positioning and increase the reachable positioning space of the micro-gripper in the micro-operating system. Firstly, a 2-DOF micro-positioning platform was designed based on the 2 translation and 1 rotation (2T1R) type compliant motion pair, and the structure of micro-positioning clamping system was designed by combining it with a micro-gripper. Secondly, the theoretical models of force-displacement relationship, lost motion and natural frequency of micro-positioning platform were deduced by the simplified linear elastic beam model, and the theoretical models of force-displacement relationship, displacement amplification ratio and natural frequency of micro-gripper were deduced by the Euler-Bernoulli beam model and the law of conservation of energy. Then, the parameters of the micro-positioning clamping system were optimized for the improvements of its static and dynamic performance. Finally, the correctness of the theoretical model was verified by finite element simulation, and the reachable positioning space of the micro-gripper was given. Results show that the design of micro-positioning clamping system is effective and feasible.