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

RI：适用于微型机器人操纵器的适应性多功能末端执行器

• 批准号: 0713346
• 负责人: Ning Xi
• 金额: $ 44.28万
• 依托单位: Michigan State University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2007
• 资助国家: 美国
• 起止时间: 2007-08-15 至 2013-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0713346&HistoricalAwards=false
• 关键词: RI; Adaptable; Multi; Functional; End

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.

本项目的目标是为微型机器人操作系统开发一种可适应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知微小接触力，并在线调节微小接触力和位置。这项研究将为微力传感中长期悬而未决的问题提供解决方案，即解决灵敏度与动态范围之间的矛盾。该方法不是直接测量力本身，而是测量微力的速率，并通过实时数据处理获得力信息。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。本研究还将为将无限维系统理论应用于微操作中的力/位置混合控制提供理论基础和实现方案。该项目的成果将导致开发一种高效和有效的微型机器人操作系统，用于生物医学研究和应用中微传感器、执行器和其他设备的自动化组装，以及微注射和操作。