微机器人的机构和控制的基础研究

BASIC RESEARCH OF MICRO ROBOT STRUCTURE AND CONTROL

摘要: 本文论述了一个应用于生物工学或医学工学的微机器人的新装置．使用压电元件和带圆弧缺口的机构，以实现位置控制．用 Exact Model Matching（EMM）方法进行系统的设计．位置控制范围约0—50μm．系统带宽1kHz以上，精度为0.1．

Abstract: This paper describes a new device developed for biological of medical robot.Piez-oelectrical element and circular notched mechanism are used for position control.The"Exact Model Matching"method is used to design the system.The controlled rangeof position is about 50μm.The system BW is 1kHz and over,with accuracy 0.1μm.