A force-feedback control system for micro-assembly

作者：Lu Zhe^*; Chen Peter C Y; Ganapathy Anand; Zhao Guoyong; Nam Joohoo; Yang Guilin; Burdet Etienne; Teo Cheeleong; Meng Qingnian; Lin Wei

来源：Journal of Micromechanics and Microengineering, 2006, 16(9): 1861-1868.

DOI：10.1088/0960-1317/16/9/015

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.

• 出版日期2006-9
• 单位南阳理工学院