A force-feedback control system for micro-assembly

被引：24
|
作者：
Lu, Zhe
Chen, Peter C. Y.
Ganapathy, Anand
Zhao, Guoyong
Nam, Joohoo
Yang, Guilin
Burdet, Etienne
Teo, Cheeleong
Meng, Qingnian
Lin, Wei
机构：
[1] Natl Univ Singapore, Fac Engn, Dept Mech Engn, Singapore 117548, Singapore
[2] Nanyang Technol Univ, Sch Mech & Aerosp Engn, Singapore 639798, Singapore
[3] Singapore Inst Mfg Technol, Mechatron Grp, Singapore, Singapore
[4] Univ London Imperial Coll Sci Technol & Med, London SW7 2AZ, England
来源：
JOURNAL OF MICROMECHANICS AND MICROENGINEERING | 2006年 / 16卷 / 09期
关键词：
D O I：
10.1088/0960-1317/16/9/015
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, we report the development of an explicit force-feedback control system for micro-assembly, focusing on the key issues of force transmission and control. The force-feedback system is incorporated with a compound flexure stage, which is driven by a voice-coil actuator and designed to provide frictionless translation motion along one axis. A force sensor measures the interaction force between the micromanipulator and its environment, while an explicit force controller controls the interaction force to follow a desired force trajectory. The effectiveness of this prototype force-control system has been demonstrated in an experimental application, where parts (with dimensions in microns) were picked up and assembled under explicit force-feedback control.
引用
收藏
页码：1861 / 1868
页数：8
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