提高微操作机器人性能的若干关键基础问题研究

针对微操作机器人提出的更加精确、便捷、稳定和安全的要求，研究和改进若干关键基础问题。研究内容有：（1）基于压电陶瓷和柔性铰链的微动定位平台的动力学建模方法与非线性驱动控制技术。（2）显微视觉伺服系统下目标定位、跟踪等关键问题。（3）基于手爪和感知探针的细胞夹持固定与检测关键问题。研究目标：（1）针对该微动定位平台系统存在的迟滞、蠕变等非线性现象进行建模的研究，以实现该平台精确定位控制。（2）研究并设计具有可控转动载物台的显微视觉伺服系统，以实现目标物体的多角度、快速、精确定位和测量的需求；（3）研究显微视觉伺服系统下感知探针、IPMC/PVDF 一体化手爪的自动检测、对焦及跟踪定位问题。（4）研究细胞在受力情况下的力学模型，用于指导细胞操作时施加力的大小；（5）研究基于柔性智能材料IPMC/PVDF的集成二指手爪和基于PVDF 力传感器的感知探针，及其变刚度控制方法，实现快速稳定夹取细胞.

To meet the demand of higher requirements of accuracy, convenience, stability and safety to the micro-manipulation robots in the cell engineering, several kinds of key basic problems will be researched and improved. The contents in this project mainly include: (1) research on the nonlinear drive control technology and dynamic modeling methods of micro-positioning stage based on piezoelectric ceramics and flexure hinges; (2) research on the key problems such as target location and tracking in the microscopic visual servo system; (3) research on the sensing probe and gripper based the key issues of cell gripping and detection. Research targets mainly include: (1) research on modeling based on nonlinear phenomena such as hysteresis, creep, etc. in order to achieve accurate positioning control of the micro-positioning stage; (2) research and design the microscopic visual servo system with controllable rotation stage to achieve the requirements of multi-angle, high speed, accurate positioning and measurement to the targets;(3) research on the automatic detection, auto-focusing and tracking about the sensing probe and IPMC / PVDF integrated gripper in the microscopic visual servo system; (4) research on the cell’ s mechanical model under forcing to guide the applied force among the cell operation; (5) research on the integrated 2-finger gripper based on the soft smart material IPMC / PVDF and the sensing probe based on the PVDF force sensors, and the variable stiffness control methods to them in order to grip cell rapidly and stably.