SU1548044A1 - Micromanipulator arm - Google Patents

Abstract

The invention relates to mechanical engineering and can be used to automate technological processes. The aim of the invention is to improve the reliability and accuracy of positioning by eliminating backlash between the drive elements and links. The movement of the executive body in space occurs due to the rotation of one or several links of the micromanipulatory arm. For this, the hinge of the moving link is unlocked by removing the direct voltage from the electrodes of the piezoelectric ring 6, which covers the spherical surface of the part of the hinge attached to the adjacent link, and supplies high-frequency voltage to these electrodes, which sharply reduces friction between the surfaces of the sphere and covers the spherical surface parts of the hinge ring. At the same time, high-frequency voltage with phase shift and sector, acting as oscillation concentrators, oscillate the shoe 7, is applied to the electrodes of individual sectors of the piezoelectric elements of the actuator in contact with sphere 3, which oscillate the oscillators, causing it to perform an elliptical motion, which informs the unidirectional movement of the hinge-covering part. When the movement to the ring 6 is completed, a constant voltage is again applied, and the sectors are elastically pressed through the shoe to the sphere 3 of the hinge. 3 il.

Description

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FIG.

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Claims (1)

Claim The arm of the micromanipulator, which contains the links and the drives of their movement, connected in series with ball joints, including the piezoelectric elements installed in the joints and the associated control system, consisting of a phase-shifting device and sources of constant and high-frequency voltage, characterized in that, in order to increase reliability and positioning accuracy by eliminating the formation of backlash between drive elements and links, it is equipped with link position fixers, each of the cat ryh is made in the form of a ring of piezoelectric material fixed on the covering part of the ball joint with the possibility of interaction of its inner surface with the spherical surface of the covered part, and the piezoelectric elements of the link drive are made in the form of a hollow hemisphere divided by grooves into identical sectors connected to each other at the upper point hemispheres, while the hemisphere is installed in the covering part of the hinge and is spring-loaded to it with the possibility of interaction with the surface of the sphere covered parts through a shoe mounted on a hollow hemisphere. FIG. 1 Aa Fig.Z 'Compiled by F. Mayorov