顕微作業用XYθ小型自走機械の開発(第2報) : 円弧動作の解析と動作実験

概要

論文の詳細を見る
In order to provide microscopic manipulation, the unique locomotion mechanism which is composed of four piezo elements and two electromagnets were proposed in the 1st report. Here two legs arranged on cross each other are connected by four piezo elements so that it can move in any directions, i.e. in the X and Y directions as well as rotate at the specified point precisely with the manner of inch worm. Moreover the combination of specified wave forms for piezo elements can provide "arc trajectory motion", that is important for the micro manipulator to keep its tip end within the microscopic area. In this paper, we analyse the arc trajectory motion and design the signals of each actuator, and then we checked its motion accuracy and precise dexiterity by the CCD camera based image tracker. Finally, we confirmed that the robot can move the arc trajectoy motion with respect, to any center point precisely.
公益社団法人精密工学会の論文
2003-01-05