基于高频微幅振动的微切剖操作器设计

提出一种基于高频微幅振动的微切剖操作器,其微动机构采用具有3个纯移动自由度的3-RUU并联机构,机构的动平台安装有PZT高频微幅振动单元,固联于振动单元的操作针可在跟随机构动平台作较大范围运动的同时通过PZT单元的高频微幅激励实现微切剖操作.建立3-RUU微动机构的尺寸型模型,绘制描述机构尺寸参数组合与机构性能关系的性能图谱并根据性能图谱设计微动机构的运动学参数.利用有限元法对微动机构的静、动态性能进行分析,并进一步确定微动机构及驱动单元的结构参数.基于得到的运动学及结构参数制作操作器原型,该原型可作为显微切剖操作试验系统的一个基本单元.

DESIGN OF HIGH-FREQUENCY AND MICRO-AMPLITUDE VIBRATION BASED MANIPULATOR FOR MICROSCOPICAL DISSECTION

A high-frequency and micro-amplitude vibration based manipulator for microscopical dissection is proposed, in which the 3-RUU parallel mechanism having three pure translational degrees is adopted as the micro-motion mechanism, and a PZT unit generating high-frequency and micro-amplitude vibration is fixed on movable platform of the micro-motion mechanism. Moving along with the large motion of movable platform and synchronously actuated by the high-frequency and micro-amplitude vibration of the PZT unit, the operational needle can perform the micro-dissection tasks. The dimensional model of the 3-RUU micro-motion mechanism is established, the performance atlas describing the relationships between the dimensional parameter combinations and mechanism performances are protracted, and the kinematic parameters of micro-motion mechanism are determined by means of these performance atlas. Using the finite element method, the static and dynamic characteristics of the micro-motion mechanism are analyzed, and the structural parameters of the micro-motion mechanism as well as the driving unit are designed ulteriorly. According to the obtained kinematic and structural parameters, a micro-dissection manipulator prototype is fabricated, which can be used as a basic module in a microscopical dissection operational experiment system.