基于微小型移动机器人的微操作系统

提出一种新颖的基于宏/微双重驱动微小型移动机器人的微操作系统.机器人在宏运动状态下为典型的轮式机器人,在微运动状态下为尺蠖运动机器人.将集成微夹持器的微操作器安装在机器人移动定位平台上用于实现微操作任务.为了自动导航机器人完成微操作任务,设计外部智能视觉系统.视觉系统分为全局视觉与显微视觉两个子部分,机器人在全局视觉的导航控制下以宏运动状态实现大范围的粗定位,并使机器人微夹持器末端准确地进入显微镜视场.在显微视觉的导航控制下以微运动状态实现小范围、高精度的精定位,并完成微操作任务.试验表明,提出的基于微小型移动机器人的微操作系统能够成功地实现微小零件的夹取与装配.

MICRO OPERATION SYSTEM BASED ON MINIATURE MOBILE ROBOT

A newly developed micro operation system assisted by a conceptual 5-DOF (degree of freedom) macro/micro dual driven micro robot is presented. With the macro motion mode, the robot is a typical wheeled mobile robot and with the micro motion mode the robot is an inchworm robot. A manipulator is mounted on the top of robot platform for the robot accomplishing micro operation task. To navigate the robot automatically, an intelligent vision sensor system is developed. The vision system includes two parts that are the global vision system and the local vision system. The global visual system guides the robot to accomplish large workspace rapid motion. The local vision system guides the robot to accomplish small workspace precision positioning for micro operation task. Experiments show that the proposed system succeeds in providing micro operation task such as micro part gripping and assembly.