微操作機器人控制系統(tǒng)的研究.pdf

1、同濟大學碩士學位論文微操作機器人控制系統(tǒng)的研究姓名：張國華申請學位級別：碩士專業(yè)：機械制造及其自動化指導教師：馬奎20060901AbstractAj8I袋豳《譬IntheendofthelastccnPary90sthenature嬲nclplcsWerewedtodevetoptheindustrysystem。Comparetothethingswhmhargmanufacturedbythetraditionaltechnolo

2、gy餓#microsystemislowenergycostsystemItcallprovidebettersolution婦somespecialconditionThemicro—te穗nologycanbefoundincommunication，controllingmedicalchemistryandmeas謝ementfields弧ecomputingandsimulationseaarewereusedtealizea

3、controlsystemofmicroassemblyrobotinthisthesisThisrobotisconstructedby攮eparallelstructureComparingtothetraditionalseriesstructureitiscompc瞄edof8closechain。Thisstructurehas撼蚤Frccision。Fortherequirementofresearch，acontrolso

4、ftwarewillberequiredtoprogramthecodetocontroltheTCP薯he娃themotionof氆eTCPwillbesimulatedbysoftware。Afterwardsthemotionspag=。wouldbecalculated，Themotionspaceandtheborder凇beacquiredbycomputingsoftware酣式璉A拯。Thecontrollingprog

5、rammewillbeexecutedincontrollingsoftwarewhicbcontrolspiezoelectricelementThesoftwarel^骶^耩fS婦ulinkanddSPACEwill№requiredTherepeatedprecisionwillbeacquired坶test，Thestructureofrobotwillbeoptimizedthroughtheresultoftest。Fina