韩江义, 游有鹏, 王化明, 朱剑英. 夹钳式力反馈遥微操作系统的设计与试验[J]. 机器人, 2010, 32(2): 184-189..
HAN Jiangyi, YOU Youpeng, WANG Huaming, ZHU Jianying. Design and Experiments of Clamp Type Force-feedback Tele-micromanipulation System. ROBOT, 2010, 32(2): 184-189..
Abstract:A force feedback tele-micromanipulation system is developed,which consists of a clamp master-hand, a micro- gripper driven by piezoelectric ceramic, and force-feedback control module of master-slave pattern. The system makes operators obtain the telepresence of grasping force and avoid damnifying the crisp objects in tele-micromanipulation. Design and control method of the clamp master-hand, slave-hand and force feedback are introduced in detail, the experimental platform is set up, and the tele-micromanipulation experiments are carried out. The position tracking, force feedback and time delay between master-hand and slave-hand are analyzed. The results of fabrication and experiments validate the feasibility of the system scheme, and it provides reference for tele-micromanipulation applied to micro-assembly and other fields.
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