Abstract
An experimental micromanipulator system was established based on a novel serial-parallel micro-motion mechanism used for micromanipulation. Considering the characteristic of the mechanism, by combining the micro vision system of computer with a capacitive micrometer, a convenient and effective kinematics calibration method for plane micro motion mechanism was proposed. In addition, an alterable integral PI control method was adopted to keep precise control of the PZT. The validity of this serial-parallel micromanipulator system was verified by the experiment of drawing circles and rectangles.
| Original language | English |
|---|---|
| Pages (from-to) | 623-627 |
| Number of pages | 5 |
| Journal | Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics |
| Volume | 27 |
| Issue number | 6 |
| State | Published - Dec 2001 |
Keywords
- Calibration
- Kinematics
- Micromanipulation
- Robots
- Serial-parallel mechanism
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