Design and Experiments of Clamp Type Force-feedback Tele-micromanipulation System

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.