Hybrid macro-micro robotic systems: principles, technologies, and applications

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The conventional paradigm to cope with the challenge to further improve performances and reduce costs of mechatronic systems is to have different technologies brought together to meet different requirements. This approach may come to a limit as each technology has a side effect with respect to others. Hybridization of engineering system, a new paradigm developed by the PI, may bring some promise in that it learns from biological systems hybridization - with an emphasis on the complementary behaviour of two technologies or systems to be integrated in terms of their strength and weakness. The long-term goal of this research program is to develop a general hybrid macro-micro robotic system (HMMRS) technology with an important characteristic that is large workspace with high accurate end-effector positioning. The methodology includes the integrated design of micro motion system and macro motion system to reduce or eliminate their interaction, and the design for control method to facilitate control system design.