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Volume 27 Issue 6
Jun.  2001
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Journal of Beijing University of Aeronautics and Astronautics  > 2001  >  27(6): 623-627.
ZHAO Wei, YU Jing-jun, BI Shu-sheng, et al. Experimental System of Serial-Parallel Micromanipulator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2001, 27(6): 623-627. (in Chinese)
Citation: ZHAO Wei, YU Jing-jun, BI Shu-sheng, et al. Experimental System of Serial-Parallel Micromanipulator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2001, 27(6): 623-627. (in Chinese)
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Experimental System of Serial-Parallel Micromanipulator

  • Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation

  • Received Date: 23 Mar 2000
  • Publish Date: 30 Jun 2001
    Abstract
  • An experimental micromanipulator system was established based on a novel serial-parallel micro-motion mechanism used for micromanipulation. Considering the characteristic of the mechanism, by combining the micro vision system of computer with a capacitive micrometer, a convenient and effective kinematics calibration method for plane micro motion mechanism was proposed. In addition, an alterable integral PI control method was adopted to keep precise control of the PZT. The validity of this serial-parallel micromanipulator system was verified by the experiment of drawing circles and rectangles.

     

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  • [1] Arai T, Lasonneur R, Jaya Y M. Calibration and basic motion of a micro hand module. Proceedings of the IEEE International Conference on Robotics and Automation. New York, 1993. 1660~1665. [2] Fukuda T, Fujiyoshi M, Arai F, et al. Design and dextrous control of micromanipulator with 6 DOF. Proceedings of the IEEE International Conference on Robotics and Automation. Sacramento, CA, 1991. 1628~1633. [3] Lee K M. A three-degrees-of-freedom micromotion in-parallel actuated manipulator[J]. IEEE Transactions on Robotics and Automation, 1991, 7(5):634~641. [4] 毕树生,王守杰,宗光华.串并联微动机构的运动学分析[J]. 机器人,1997, 19(4):259~264.
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