This article provides a flexible-joint-manipulator,which incorporates with three means to make its mechanical arm come into compliant contact with the objects with a force kept within an acceptable range. At first,the...
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This article provides a flexible-joint-manipulator,which incorporates with three means to make its mechanical arm come into compliant contact with the objects with a force kept within an acceptable range. At first,the Cartesian impedance control law is introduced on the basis of virtual decomposition to realize the compliance control. Then,adaptive dynamic joint compensators on all joints are used to achieve more precise control. Finally,a Cartesian force-feedback path generation is developed for collision ...
为实现毛细力操作液滴获取,提出基于疏水表面冷凝的毛细力微操作液滴分配方法,研究微对象转移进程中(拾取-释放)所需的操作液滴条件.针对操作液滴分配任务,建立液桥拉伸进程中的模型.基于VOF(volume of fluid)方法,建立平面-平面、平面...
详细信息
为实现毛细力操作液滴获取,提出基于疏水表面冷凝的毛细力微操作液滴分配方法,研究微对象转移进程中(拾取-释放)所需的操作液滴条件.针对操作液滴分配任务,建立液桥拉伸进程中的模型.基于VOF(volume of fluid)方法,建立平面-平面、平面-球面配置模式下的动态模型,分析操作液滴的动态获取过程.仿真结果表明:接触角和提升速度均对辅助液滴的获取率和断裂距离起到重要作用,液滴趋向于接触角小的端面,提升速度可促使液滴在两平面均分.液桥体积对辅助液滴获取率的影响较小,液桥断裂距离与液桥体积成正比变化.实验研究了平面-平面、平面-球面配置下的操作液滴动态分配进程,验证了所提出方法的可行性.
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