As the end effector of micro-operated robot, micro-clamp mechanism is often used for micro-assembly and micro-operation of small objects. It is widely used in micro-operation, medical, aerospace, precision instruments and other fields. Aim to solve the problems of small clamping range and large structure size in the existing micro-clamp device, a multistage flexibility amplifying device for series piezoelectric micro-clamp is designed using single piezoelectric ceramic as the displacement driving source of micro-clamp. The static and dynamic modeling is carried out. The finite element analysis of the multistage compliance amplifier is carried out, and the correctness of its theoretical model is verified. The wide range of clamping and stable parallel clamping of the left and right clamp arms are realized. The experimental results show that the magnification is 19.62, and the clamping range of 333.57μm can be completed. The designed micro-clamp has good dynamic performance, symmetrical and compact, large clamping range, low coupling, and can complete the high-precision submicron level clamping and releasing tasks.
The laser Guiding Measurement Robot (LGMR) technology is based on the measurement method "laser beam moving,
Spherical Mounted Retro-reflector (SMR) tracking", which uses CAD model to control the position and attitude signals
of measuring laser beam that guides the robot carrying SMR to the required position to complete the measurement of the
objects together with a laser tracker. It is a key technology to be studied deeply how the CAD model is converted into the
signals, which can make laser beam scan and guide the device with SMR to move to the required position. This paper
describes the research work to the development of an optical guidance system for CMM with SMR by use of the CAD
model of a completed object. The working principle and structure of LGMR are presented firstly. Then the method
converting the CAD model to signals is studied successfully. Next, the guidance system employs the signals to make
laser beam point to the required position and guide the CMM with SMR to the position at the same time. Finally, the
experiment is carried out to prove the correctness of the methodology. The results show the maximum error of the
measured curve is 0.12mm.
This paper presents the achievement of a China NSFC project. The Laser Tracker System (LTS) is a portable 3D large size measuring system. The measuring conditions such as time and temperature can greatly affect the measuring accuracy of LTS. This paper pays a great attention to study how the time and temperature affect the measuring accuracy of LTS. Coordinate Measuring Machine (CMM) is employed as a high-level measuring instrument to validate LTS. The experiments have been done to find how the time and temperature affect the measuring accuracy of LTS. The experiments show the LTS can work well with the highest measuring accuracy just after three-hour warm-up. However, the LTS becomes unstable and the measuring accuracy decreases after 10 hours. The LTS needs calibration and compensation every 10 hours. The experiments show that the measuring error can be up to 29.6μm when the measuring temperature is 30.5°C even if the measuring error is less than 5.9μm while the temperature is between 20°C and 23.8°C. The research provides a very useful guidance for application of LTS.
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