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

为了进一步提高机电一体化系统的性能和降低成本，传统的解决方案是将不同的技术结合在一起，以满足不同的要求。这种方法可能会受到限制，因为每种技术都有相对于其他技术的副作用。工程系统的杂交是由PI开发的一种新范例，它可能带来一些希望，因为它从生物系统杂交中学习-强调两种技术或系统的互补行为，以整合其优缺点。本研究的长期目标是开发一种具有大工作空间和高精度末端执行器定位的通用宏微混合机器人系统（HMMRS）技术。该方法包括微观运动系统和宏观运动系统的集成设计，以减少或消除它们之间的相互作用，以及控制方法的设计，以方便控制系统的设计。

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.