RI: Adaptable Multi-Functional End Effector for a Micro Robotic Manipulator

本计画的目的是为微型机器人操作系统开发一种适应性强的多功能末端执行器。末端执行器将能够以前所未有的精度和动态范围感测微接触力，并在线调节微接触力和位置。该研究为解决微力传感中长期悬而未决的问题，即灵敏度与动态范围之间的矛盾提供了一种解决方案。该方法是基于测量的微小力的速率，而不是直接测量力本身，并通过实时数据处理获得力的信息。因此，可以获得高精度的力测量，而不会对传感器的动态范围施加任何限制。本研究也将为无限维系统理论在微操作力/位置混合控制中的应用提供理论基础和实现方案。该项目的结果将导致开发一种高效和有效的微型机器人操作系统，用于微传感器，致动器和其他设备的装配自动化，以及生物医学研究和应用中的微注射和操作。

The objective of this project is to develop an adaptable multi-functional end effector for a micro robotic manipulation system. The end effector will be able to sense a micro contact force at an unprecedented accuracy and dynamic range, and to on-line regulate the both micro contact force and position. This research will provide a solution for the long outstanding problem in micro force sensing, i.e. solving the conflict between the sensitivity and dynamic range. The approach is based on measuring the rate of the micro force instead of directly measuring the force itself, and obtaining the force information via real-time data processing. As a result, highly accurate force measurements can be obtained without imposing any limitation on the dynamic range of the sensor. This research will also provide the theoretical foundation and implementation scheme for the application of the infinite dimensional system theory to the hybrid force/position control in micromanipulation. The results of this project will lead to the development of an efficient and effective micro robotic manipulation system for the automation in the assembly of micro sensors, actuators and other devices, and micro injection and manipulation in biomedical research and applications.