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A two-degree-of-freedom precision control robot and its excitation method
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A robotic, degree-of-freedom technology
Active Publication Date: 2021-07-20
HARBIN INST OF TECH
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[0005] The purpose of the present invention is to solve the problems of high processing cost, environmental pollution, large material loss, poor surface quality and limited molding objects, etc. For technical issues, a two-degree-of-freedom precision control robot and its excitation method for surface microstructure forming are proposed
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specific Embodiment approach 1
[0061] Embodiment 1: Combining Figure 1 to Figure 7 This embodiment will be described. This embodiment provides a two-degree-of-freedom precision manipulation robot for forming surface microstructures; the robot includes a precise attitude adjustment mechanism 1 , a piezoelectric micro-spray mechanism 2 and a contact target surface 3 ; the precise attitude adjustment mechanism 1 It is connected and fixed with the piezoelectric micro-injection mechanism 2; the piezoelectric micro-injection mechanism 2 is in a separated state from the contact target surface 3, and the distance between the piezoelectric micro-injection mechanism 2 and the contact target surface 3 can be adjusted by the precise attitude adjustment mechanism. 1 to make adjustments.
[0062] The precise attitude adjustment mechanism 1 includes a mounting base 1-1, a support body 1-2, a cover plate 1-3, a bending piezoelectric ceramic component 1-4, a driving foot 1-5, a terminal output device 1-6, a connection As...
specific Embodiment approach 2
[0065] Specific implementation mode 2: Combining Figure 1 to Figure 8 This specific embodiment will be described. This embodiment provides an embodiment of a precise attitude adjustment mechanism. Under the excitation of the scheme, the terminal output devices 1-6 of the precise attitude adjustment mechanism 1 can respectively rotate an angle clockwise around the X axis;
[0066] In order to facilitate the description of the excitation method, the following provisions are first made. When a rising AC voltage excitation signal is applied to the polarization region I1-4-1 and polarization region III1-4-3 of the bending piezoelectric ceramic component 1-4, the driving The feet 1-5 can be deflected by an angle clockwise around the X-axis, and when a falling AC voltage excitation signal is applied to the polarization zone I1-4-1 and the polarization zone III1-4-3 of the bending piezoelectric ceramic component 1-4 , resulting in a counterclockwise deflection around the X-axis; whe...
specific Embodiment approach 3
[0071] Specific implementation three: combination Figure 1 to Figure 7 , Figure 9 This specific embodiment will be described. This embodiment provides an embodiment of a precise attitude adjustment mechanism. Under the excitation of the scheme, the terminal output devices 1-6 of the precise attitude adjustment mechanism 1 can be rotated by an angle counterclockwise around the X-axis;
[0072] The driving method to realize the counterclockwise rotation of the terminal output device 1-6 around the X axis is as follows:
[0073] Step 21. Apply a slowly decreasing AC voltage excitation signal to the polarization zone I1-4-1 and the polarization zone III1-4-3 of the bending piezoelectric ceramic component 1-4, and the deformation drives the driving foot 1-5 around X The shaft slowly rotates counterclockwise to the limit position. Under the action of the static friction force between the driving foot 1-5 and the terminal output device 1-6, the terminal output device 1-6 realizes...
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Abstract
The invention proposes a two-degree-of-freedom precision control robot and an excitation method for forming microstructures on surfaces, belonging to the technical field of rapid prototyping. The robot includes a precision attitude adjustment mechanism, a piezoelectric micro-spray mechanism and a contact target surface; the precision attitude adjustment mechanism is connected and fixed with the piezoelectric micro-spray mechanism; the piezoelectric micro-spray mechanism is separated from the contact target surface, and The distance between the electronic micro-spray mechanism and the contact target surface can be adjusted through the precision attitude adjustment mechanism. The robot adopts the idea of combining piezoelectric micro-spray structure and multi-degree-of-freedom motion mechanism for integrated design. It has the advantages of simple structure, low price and low equipment use and maintenance costs. It also has fast forming speed and high forming resolution. High, low operating noise of the device, meeting the requirements of injection molding of various materials. It has broad application prospects in the fields of biomedicine, aerospace, materials, chemistry and microelectronic devices.
Description
technical field [0001] The invention belongs to the technical field of rapid prototyping, in particular to a two-degree-of-freedom precision control robot and an excitation method thereof. Background technique [0002] Rapid prototyping technology is a "growth" manufacturing method based on the idea of "discrete / accumulation". It usually integrates computer-aided design and computer-aided manufacturing with the help of modern means such as computers, lasers, micro-jetting, precision transmission and numerical control. The 3D data model designed on the above can directly manufacture products or samples in a very short time. Rapid prototyping technology is a completely new manufacturing concept, that is, additive manufacturing. Compared with the traditional subtractive material removal method, the additive additive manufacturing method has high processing accuracy, high material utilization rate, and the ability to manufacture any complex shape parts, which has obvious adva...
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