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研究生:机啟成
研究生(外文):Chi-Cheng Chi
論文名稱:形狀記憶合金驅動生醫用高分子微夾持系統之發展
論文名稱(外文):Development of Shape-Memory-Alloy Actuated Biomedical Polymer Micro-Gripper
指導教授:張仁宗張仁宗引用關係
指導教授(外文):R.-J. Chang
學位類別:碩士
校院名稱:國立成功大學
系所名稱:機械工程學系碩博士班
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2004
畢業學年度:92
語文別:中文
論文頁數:74
中文關鍵詞:遲滯模型微致動器生醫用微夾持器
外文關鍵詞:micro-actuatorbiomedical micro-gripperhysteresis model
相關次數:
  • 被引用被引用:7
  • 點閱點閱:215
  • 評分評分:
  • 下載下載:39
  • 收藏至我的研究室書目清單書目收藏:0
  「光機電系統控制研究室」歷年於微夾持系統上之研究,已開發出形狀記憶合金致動高分子微夾持器,本文根據該研究經驗與資源,整合生醫顯微鏡、形狀記憶合金致動器而完成生醫環境使用之微夾持器。本文在設計與製造流程確認後,即進行夾持器之分析以利於致動器之選擇,接著進行致動器之分析與靜態建模,並探討其正確性。最後夾持器經過測試,可於水面下夾持與搬運23-35μm之粒子,完成生醫用微夾持器之設計。
  According to the researches of micro-gripping system in the “OME System Lab” in recent years, a polymer micro gripper actuated by shape-memory alloy has been developed. This study is based on their experiences and resources, and integrates the biomedical microscope and SMA actuator to accomplish a micro-gripper which can work in the biomedical environment. After confirming the procedure of design and manufacture of micro-gripper, we analyzed it for choosing micro-actuator. Then we analyzed the actuator and created a static hysteresis model of it. The repeatability of open-loop control is discussed. Finally, we test the functions of the designed gripper system. The test result reveals that the gripper system can grasp a spherical particle with diameter 23-35μm under water.
中文摘要 I
ABSTRACT II
誌謝 III
表目錄 VII
圖目錄 VIII
符號表 XI

第一章 序論 1
1-1引言 1
1-2文獻回顧 1
1-2.1生醫用之微操縱器簡介 1
1-2.2生醫用握持式微操縱器 3
1-2.3微致動器 8
1-3研究目標 8
1-4研究方法 9
1-5本文架構 9
第二章 夾持系統之實現 11
2-1 微夾持器之實現 11
2-1.1 微夾持器改進與設計 11
2-1.2 準分子雷射微細加工 13
2-2 形狀記憶合金致動器之實現 15
2-2.1 微致動器之改良 15
2-2.2 圓弧形致動器之製作 16
2-3 微夾持器與致動器之組裝 17
第三章 高分子微夾持器建模與分析 18
3-1 高分子材料 18
3-1.1 高分子材料簡介 18
3-1.2 材料性質量測 19
3-2 微夾持器建模 22
3-2.1 位移增益 22
3-2.2 夾持器等效剛度 26
3-3 有限元素分析 27
3-3.1 位移增益 28
3-3.2 夾持器等效剛度 29
3-3.3 握持分析 32
第四章 形狀記憶合金微致動器建模與測試 33
4-1 形狀記憶合金簡介 33
4-2 暫態響應分析 35
4-2.1 微致動器控制電路 36
4-2.2 影像量測方法 38
4-2.3 暫態分析 40
4-3 形狀記憶合金模型 42
4-3.1 形狀記憶合金模型文獻回顧 42
4-3.2 遲滯模型 Preisach Model 44
4-3.3 形狀記憶合金主遲滯環模型建立 48
4-3.4 模型驗證與分析 53
第五章 功能測試 57
5-1 負重測試 57
5-2 生醫環境測試 58
5-2.1 液面下開闔測試 59
5-2.2 液面下夾持測試 60
5.2.3 夾持進出水面測試 63
5-2.4液面下搬運測試 64
第六章 結論與未來展望 67
6-1 結論 67
6-2 未來展望 68
參考文獻 69
附錄 72
自述 74
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