NDLI: Research on integrated micromanipulator and its application in microassembly

Content Provider	IEEE Xplore Digital Library
Author	Weibin Rong Lining Sun Liguo Chen
Copyright Year	2003
Description	Author affiliation: Robot Res. Inst., Harbin Inst. of Technol., China (Weibin Rong; Lining Sun; Liguo Chen)
Abstract	Micromanipulator is the key component of a micromanipulating robot. According to the principle of piezoelectric scanner, a three degree-of-freedom micromanipulator driven by piezoelectric tubes is developed. The integration of mechanism, actuator and sensor is realized. The formula establishing the relationship between microdisplacement and driving voltage is given. The micropositioning control system is introduced, including the bipolar piezoelectric driver and micropositioning measuring system. Some static and dynamic characteristics of the micromanipulator are gained. Based on this, the micromanipulator is applied to a micromanipulating robot. Thanks to micro-vision and micro-force perceiving, macro-micro-positioning is performed. As a result, the peg-in-hole with diameter of 0.2 mm is finished successfully by rational microassembly strategy.
Sponsorship	Chinese High-tech Development Program Chinese Academy of Sci. Chinese Soc. of Automation IEEE Systems, Man and Cybernetics Soc
Starting Page	831
Ending Page	835
File Size	690875
Page Count	5
File Format	PDF
ISBN	078037925X
DOI	10.1109/RISSP.2003.1285694
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-10-08
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robotic assembly Electrodes Micromanipulators Microscopy Voltage Piezoelectric actuators Robot sensing systems Strain measurement Microassembly Biomedical signal processing
Content Type	Text
Resource Type	Article

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