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

应对进一步提高机电系统性能和降低成本的挑战的传统模式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。工程系统杂交是国际和平研究所开发的一种新范式，它可能会带来一些希望，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，以其优势和劣势进行整合。该研究计划的长期目标是开发一种通用的混合式宏微机器人系统(HMMRS)技术，其一个重要特点是工作空间大，末端执行器定位精度高。该方法包括微动系统和宏动系统的综合设计，以减少或消除它们之间的交互作用，以及控制方法的设计，以便于控制系统的设计。

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.